From 67a8147c0907562df64b0b5d148f5f950ab9ddba Mon Sep 17 00:00:00 2001
From: Jakob Bornecrantz <jakob@collabora.com>
Date: Tue, 23 May 2023 10:13:34 +0100
Subject: [PATCH] d/dai: Try to set realtime priority on IMU thread

---
 src/xrt/drivers/depthai/depthai_driver.cpp | 9 +++++++++
 1 file changed, 9 insertions(+)

diff --git a/src/xrt/drivers/depthai/depthai_driver.cpp b/src/xrt/drivers/depthai/depthai_driver.cpp
index 7fa85cdae..59ca73447 100644
--- a/src/xrt/drivers/depthai/depthai_driver.cpp
+++ b/src/xrt/drivers/depthai/depthai_driver.cpp
@@ -25,6 +25,10 @@
 #include "util/u_logging.h"
 #include "util/u_trace_marker.h"
 
+#ifdef XRT_OS_LINUX
+#include "util/u_linux.h"
+#endif
+
 #include "tracking/t_tracking.h"
 
 #include "depthai_interface.h"
@@ -616,6 +620,11 @@ depthai_imu_mainloop(void *ptr)
 	U_TRACE_SET_THREAD_NAME("DepthAI: IMU");
 	os_thread_helper_name(&depthai->imu_thread, "DepthAI: IMU");
 
+#ifdef XRT_OS_LINUX
+	// Try to raise priority of this thread.
+	u_linux_try_to_set_realtime_priority_on_thread(depthai->log_level, "DepthAI: IMU");
+#endif
+
 	DEPTHAI_DEBUG(depthai, "DepthAI: IMU thread called");
 
 	os_thread_helper_lock(&depthai->imu_thread);