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d/dai: Try to set realtime priority on IMU thread

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This commit is contained in:
Jakob Bornecrantz 2023-05-23 10:13:34 +01:00
parent 1b221c7666
commit 67a8147c09
1 changed files with 9 additions and 0 deletions
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9
src/xrt/drivers/depthai/depthai_driver.cpp
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@ -25,6 +25,10 @@
#include "util/u_logging.h" #include "util/u_logging.h"
#include "util/u_trace_marker.h" #include "util/u_trace_marker.h"
#ifdef XRT_OS_LINUX
#include "util/u_linux.h"
#endif
#include "tracking/t_tracking.h" #include "tracking/t_tracking.h"
#include "depthai_interface.h" #include "depthai_interface.h"
@ -616,6 +620,11 @@ depthai_imu_mainloop(void *ptr)
U_TRACE_SET_THREAD_NAME("DepthAI: IMU"); U_TRACE_SET_THREAD_NAME("DepthAI: IMU");
os_thread_helper_name(&depthai->imu_thread, "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"); DEPTHAI_DEBUG(depthai, "DepthAI: IMU thread called");
os_thread_helper_lock(&depthai->imu_thread); os_thread_helper_lock(&depthai->imu_thread);