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RFC: uspace: Let the user choose the CPU affinity per hal thread #2514

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RFC: uspace: Let the user choose the CPU affinity per hal thread #2514

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24 changes: 20 additions & 4 deletions src/rtapi/uspace_rtapi_app.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -960,9 +960,7 @@ int Posix::task_delete(int id)
return 0;
}

static int find_rt_cpu_number() {
if(getenv("RTAPI_CPU_NUMBER")) return atoi(getenv("RTAPI_CPU_NUMBER"));

static int probe_rt_cpu_number() {
#ifdef __linux__
cpu_set_t cpuset_orig;
int r = sched_getaffinity(getpid(), sizeof(cpuset_orig), &cpuset_orig);
Expand Down Expand Up @@ -1008,6 +1006,24 @@ static int find_rt_cpu_number() {
#endif
}

static int find_rt_cpu_number(int prio) {
static const int probed_cpu_number = probe_rt_cpu_number();

char cpu_env[64];
const char *minus = "";
if (prio < 0) {
prio = -prio;
minus = "m";
}
snprintf(cpu_env, sizeof(cpu_env), "RTAPI_CPU_NUMBER_PRIO%s%d", minus, prio);
if(getenv(cpu_env))
return atoi(getenv(cpu_env));
if(getenv("RTAPI_CPU_NUMBER"))
return atoi(getenv("RTAPI_CPU_NUMBER"));

return probed_cpu_number;
}

int Posix::task_start(int task_id, unsigned long int period_nsec)
{
auto task = ::rtapi_get_task<PosixTask>(task_id);
Expand Down Expand Up @@ -1039,7 +1055,7 @@ int Posix::task_start(int task_id, unsigned long int period_nsec)
if(pthread_attr_setinheritsched(&attr, PTHREAD_EXPLICIT_SCHED) < 0)
return -errno;
if(nprocs > 1) {
const static int rt_cpu_number = find_rt_cpu_number();
int rt_cpu_number = find_rt_cpu_number(task->prio);
if(rt_cpu_number != -1) {
#ifdef __FreeBSD__
cpuset_t cpuset;
Expand Down