Jan Kiszka wrote:
> Jan Kiszka wrote:
>> 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.
>
> Actually, "nothing is impossible": That task could gain normal Linux
> priority while running the syscall. But it would have to loose
> immediately again when leaving Linux. So no lazy mode switching like we
> do for other Xenomai tasks, otherwise these tasks would loose there idle
> property after the first syscall.
>
> The point is that things get fairly special and maybe invasive to
> Xenomai, and I'm still not seeing the practical benefit compared to nice
> 19 or 20.
I think the problem is not to have a "true" SCHED_IDLE when running
under Linux scheduler, but rather when running under Xenomai scheduler.
And that can probably be arranged by implementing the SCHED_IDLE policy
for Xenomai.
--
Gilles.
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