realtime.h

// Copyright 2020 Josh Pieper, jjp@pobox.com.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

#pragma once

#include <sched.h>

namespace mjbots {
namespace moteus {

inline void ConfigureRealtime(int cpu) {
  {
    cpu_set_t cpuset = {};
    CPU_ZERO(&cpuset);
    CPU_SET(cpu, &cpuset);

    const int r = ::sched_setaffinity(0, sizeof(cpu_set_t), &cpuset);
    if (r < 0) {
      throw std::runtime_error("Error setting CPU affinity");
    }
  }

  {
    struct sched_param params = {};
    params.sched_priority = 10;
    const int r = ::sched_setscheduler(0, SCHED_RR, &params);
    if (r < 0) {
      throw std::runtime_error("Error setting realtime scheduler");
    }
  }
}

}
}