Henri Roosen wrote: > We have the same requirement for which we also have no solution. One > of our threads has a configurable priority of which at the lowest > priority the thread should behave like an idle task that is only > scheduled when all xenomai threads are idle and also the Linux domain > is idle. The thread might use rtdm-drivers and xenomai mutexes and > therefore has to be moved to the Xenomai domain. But then it always > has higher priority than any threads scheduled in linux.
That's not true, Xenomai threads can run in non-RT scheduling classes as well. They may just gain RT priority while holding some lock that is requested by a RT thread as well. > > Actually, when seen from the first domain, this requirement would be > solved when we could set a first domain priority for the second > domain... Gilles, is that what is meant by the SCHED_IDLE policy for > Linux? "nice +20", thus a very small CPU share if other task are runnable. Note that "true" SCHED_IDLE, ie. no CPU share if some other task is runnable, could only work if we forbid access to Linux syscalls for such tasks - not feasible. Jan
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