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fix: set CPU affinity for trigger thread #33

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fix: set CPU affinity for trigger thread #33

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23 changes: 11 additions & 12 deletions src/sensor_trigger.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -65,29 +65,28 @@
<< gpio_chip_ << "line number " << gpio_line_ << ".");
}

// Set CPU affinity
// Create thread
trigger_time_publisher_ = create_publisher<builtin_interfaces::msg::Time>("trigger_time", 1000);
trigger_thread_ = std::make_unique<std::thread>(&SensorTrigger::run, this);

// Set CPU affinity for trigger_thread_
cpu_set_t cpuset;
CPU_ZERO(&cpuset);
CPU_SET(cpu_, &cpuset);
if (pthread_setaffinity_np(pthread_self(), sizeof(cpu_set_t), &cpuset)) {
RCLCPP_WARN_STREAM(get_logger(), "Failed to set CPU affinity: " << strerror(errno) << ".");
if (pthread_setaffinity_np(trigger_thread_->native_handle(), sizeof(cpu_set_t), &cpuset)) {
RCLCPP_WARN_STREAM(get_logger(), "Failed to set thread CPU affinity: " << strerror(errno) << ".");
}
if (pthread_getaffinity_np(pthread_self(), sizeof(cpu_set_t), &cpuset)) {
RCLCPP_WARN_STREAM(get_logger(), "Failed to check CPU affinity: " << strerror(errno) << ".");
if (pthread_getaffinity_np(trigger_thread_->native_handle(), sizeof(cpu_set_t), &cpuset)) {

Check warning on line 79 in src/sensor_trigger.cpp

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Unknown word (getaffinity)
RCLCPP_WARN_STREAM(get_logger(), "Failed to check thread CPU affinity: " << strerror(errno) << ".");
}

// Create thread
trigger_time_publisher_ = create_publisher<builtin_interfaces::msg::Time>("trigger_time", 1000);
trigger_thread_ = std::make_unique<std::thread>(&SensorTrigger::run, this);

// Set thread priority
sched_param sch;
int policy;
pthread_getschedparam(trigger_thread_->native_handle(), &policy, &sch);
sch.sched_priority = 30;
sch.sched_priority = 80;
if (pthread_setschedparam(trigger_thread_->native_handle(), SCHED_FIFO, &sch)) {
RCLCPP_WARN_STREAM(
get_logger(), "Failed to set schedule parameters: " << strerror(errno) << ".");
RCLCPP_WARN_STREAM(get_logger(), "Failed to set schedule parameters: " << strerror(errno) << ".");
}
}

Expand Down Expand Up @@ -130,7 +129,7 @@
while (now_nsec > target_nsec) {
target_nsec = target_nsec + interval_nsec;
}
// FIX: what about very small phases and fast framerates giving a negative number?

Check warning on line 132 in src/sensor_trigger.cpp

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Unknown word (framerates)
wait_nsec = target_nsec - now_nsec - 1e7;
} else {
target_nsec = start_nsec;
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