Set worker thread scheduling policy and priority #424
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1. Implemented left-shifting of priorities when the right shift fails 2. Assigned maximum priority to worker threads waiting on the semaphone to be woken up as soon as a thread signals on the semaphore 3. Slightly re-factored the EDF code 4. Added missing case of scheduling a reaction with shorter deadline than the others currently being executed 5. Added print of error when the scheduling policy is not LF_SCHED_FAIR but the program was not launched with sudo rights (cannot change the scheduling policy)
1. Implemented abort when the number of threads exceeds the number of priority values 2. Set the priority to 99 when sleeping with wait_until function
1. Fixed bug with thread ids not corresponding to the indices of the EDF data structure 2. Fixed bug where initialize_lf_thread_id was called twice in the main thread
1. Set the mutex protocol to INHERIT to avoid unbounded blocking time of the worker threads when operating on the EDF data structure 2. Lowered the maximum priority of worker threads to 98 to reserve 99 for watchdogs 3. Fixes to the shifting algorithm 4. More LOG prints for debugging
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This draft PR is not ready to be merged but is here to track progress.
This PR sets the thread scheduling policy and priorities of worker threads based on deadlines. It is an initial exploration on achieving preemptive scheduling when the number of worker threads is greater than the number of cores.