Experimental Physics and Industrial Control System
I've not paid serious attention to RT Linux in the past as the cases where
I needed RT were already using RTEMS. Now I have a project where I may
want RT latency bounds when receiving high rate UDP traffic (where a short
delay can easily mean a socket buffer overflow).
While running a test to see that RT priorities were actually being set, I happened
to mis-type a 'ps' and list priorities for all threads. I noticed that some of
my (IOC) threads had a higher priority than the OS threaded interrupt handlers.
It looks like the ISR threads default to SCHED_FIFO/50, which is also what
epicsThreadPriorityMedium currently maps to. So eg. the 1 second scan task
has a higher priority (63) than the NIC ISR thread (50). This seems like
a recipe for some unexpected priority inversions.
Has anyone else looked into this?
I'm looking at the 'rtprio' and 'cls' columns. The "[...]" entire are kernel threads.
> ps -eLo rtprio,pri,nice,cls,pid,cmd|sort -n
...
> 10 50 - FF 31826 ../../bin/linux-x86_64/pscdemo st.cmd
> 10 50 - FF 31826 ../../bin/linux-x86_64/pscdemo st.cmd
> 10 50 - RR 17801 /usr/lib/firefox-esr/firefox-esr ...
> 10 50 - RR 24728 /usr/lib/firefox-esr/firefox-esr ...
> 12 52 - FF 31826 ../../bin/linux-x86_64/pscdemo st.cmd
...
> 35 75 - FF 31826 ../../bin/linux-x86_64/pscdemo st.cmd
> 50 90 - FF 100 [irq/123-pciehp]
> 50 90 - FF 101 [irq/125-pciehp]
> 50 90 - FF 224 [card0-crtc0]
> 50 90 - FF 225 [card0-crtc1]
> 50 90 - FF 226 [card0-crtc2]
> 50 90 - FF 230 [irq/171-DLL096D]
> 50 90 - FF 26049 [irq/172-mei_me]
> 50 90 - FF 31826 ../../bin/linux-x86_64/pscdemo st.cmd
...
> 50 90 - FF 31826 ../../bin/linux-x86_64/pscdemo st.cmd
> 50 90 - FF 461 [watchdogd]
> 50 90 - FF 753 [irq/176-iwlwifi]
...
> 50 90 - FF 768 [irq/185-iwlwifi]
> 50 90 - FF 99 [irq/122-pciehp]
> 58 98 - FF 31826 ../../bin/linux-x86_64/pscdemo st.cmd
...
> 89 129 - FF 31826 ../../bin/linux-x86_64/pscdemo st.cmd
> 99 139 - FF 12 [migration/0]
...
> 99 139 - FF 45 [migration/7]
> 99 139 - RR 1427 /usr/lib/rtkit/rtkit-daemon
Now I'm also wondering how firefox is able to set SCHED_RR/10
- Replies:
- Re: RT linux and priorities Konrad, Martin via Core-talk
- Re: RT linux and priorities Jeong Han Lee via Core-talk
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