feat: add rt_prio arg to DataHandler

Author: patrislav1

inc/udmaio/DataHandlerAbstract.hpp

@@ -33,24 +33,27 @@ class DataHandlerAbstract : public Logger, private boost::noncopyable {
 
     boost::asio::io_service _svc;
     boost::asio::posix::stream_descriptor _sd;
+    const bool _rt_prio;
 
     void _start_read();
     void _handle_input(const boost::system::error_code& ec);
 
   protected:
-    bool _receive_packets;  ///< Enable segmentation of stream into SOF/EOF delimited frames
+    const bool _receive_packets;  ///< Enable segmentation of stream into SOF/EOF delimited frames
 
   public:
     /// @brief Construct a Data Handler
     /// @param dma Interface to the AXI DMA core
     /// @param desc Interface to the SGDMA descriptors
     /// @param mem Interface to the memory holding the SGDMA data buffers
     /// @param receive_packets Receive packets/frames delimited by SOF/EOF. If not set, receive stream as-is without regard for packets
+    /// @param rt_prio Set receiving thread to use RT scheduling priority
     explicit DataHandlerAbstract(std::string name,
                                  UioAxiDmaIf& dma,
                                  UioMemSgdma& desc,
                                  DmaBufferAbstract& mem,
-                                 bool receive_packets = true);
+                                 bool receive_packets = true,
+                                 bool rt_prio = false);
     virtual ~DataHandlerAbstract();
 
     /// @brief Stop the data reception

inc/udmaio/DataHandlerSync.hpp

@@ -32,8 +32,9 @@ class DataHandlerSync : public DataHandlerAbstract {
                              UioMemSgdma& desc,
                              DmaBufferAbstract& mem,
                              bool receive_packets = true,
-                             size_t queue_size = 64)
-        : DataHandlerAbstract{name, dma, desc, mem, receive_packets}, _queue{queue_size} {}
+                             size_t queue_size = 64,
+                             bool rt_prio = false)
+        : DataHandlerAbstract{name, dma, desc, mem, receive_packets, rt_prio}, _queue{queue_size} {}
 
     virtual ~DataHandlerSync();
 

src/DataHandlerAbstract.cpp

@@ -12,23 +12,26 @@
 #include "udmaio/DataHandlerAbstract.hpp"
 
 #include <functional>
-#include <iomanip>
 #include <iostream>
 #include <vector>
 
+#include <pthread.h>
+
 namespace udmaio {
 
 DataHandlerAbstract::DataHandlerAbstract(std::string name,
                                          UioAxiDmaIf& dma,
                                          UioMemSgdma& desc,
                                          DmaBufferAbstract& mem,
-                                         bool receive_packets)
+                                         bool receive_packets,
+                                         bool rt_prio)
     : Logger(name)
     , _dma{dma}
     , _desc{desc}
     , _mem{mem}
     , _svc{}
     , _sd{_svc, _dma.get_fd_int()}
+    , _rt_prio{rt_prio}
     , _receive_packets{receive_packets} {
     BOOST_LOG_SEV(_lg, bls::trace) << "ctor";
 };
@@ -95,6 +98,15 @@ void DataHandlerAbstract::_handle_input(const boost::system::error_code& ec) {
 void DataHandlerAbstract::operator()() {
     BOOST_LOG_SEV(_lg, bls::trace) << "started";
 
+    if (_rt_prio) {
+        // Set real-time scheduling
+        sched_param sch_params = {.sched_priority = sched_get_priority_max(SCHED_FIFO)};
+        if (pthread_setschedparam(pthread_self(), SCHED_FIFO, &sch_params)) {
+            BOOST_LOG_SEV(_lg, bls::error)
+                << "Failed to set thread scheduling: Permission denied or invalid policy";
+        }
+    }
+
     _start_read();
     _svc.run();