1 files changed, 71 insertions, 10 deletions

diff --git a/runtime/org.eclipse.etrice.runtime.c/src/platforms/MT_POSIX_GENERIC_GCC/etThread.c b/runtime/org.eclipse.etrice.runtime.c/src/platforms/MT_POSIX_GENERIC_GCC/etThread.c
index fecbae4ad..8b7af981c 100644
--- a/runtime/org.eclipse.etrice.runtime.c/src/platforms/MT_POSIX_GENERIC_GCC/etThread.c
+++ b/runtime/org.eclipse.etrice.runtime.c/src/platforms/MT_POSIX_GENERIC_GCC/etThread.c
@@ -26,6 +26,7 @@
 #include <time.h>
 #include <sys/unistd.h>
 #include <errno.h>
+#include <limits.h>
 
 typedef void *(*threadFunc)(void *);
 void* etThread_execute(etThread* self);
@@ -51,38 +52,99 @@ void etThread_construct(
 	ET_MSC_LOGGER_SYNC_EXIT
 }
 
+/* TODO: improve this using a logger */
+static void etThread_handleError(int err, const char* msg) {
+	errno = err;
+	perror(msg);
+}
+
 void etThread_start(etThread* self) {
 	ET_MSC_LOGGER_SYNC_ENTRY("etThread", "start")
 	{
 		struct sched_param param;
 		pthread_attr_t attr;
+		int ret;
 
+		/* set policy round robin */
 		const int policy = SCHED_RR;
+
+		/* adjust priority if out of range */
 		int minPriority = sched_get_priority_min(policy);
 		int maxPriority = sched_get_priority_max(policy);
-
 		if (self->priority<minPriority)
 			self->priority = minPriority;
 		if (self->priority>maxPriority)
 			self->priority = maxPriority;
 
+		/* adjust stacksize if too small */
+		if (self->stacksize < PTHREAD_STACK_MIN)
+			self->stacksize = PTHREAD_STACK_MIN;
+
+		/* initialize attributes */
+		ret = pthread_attr_init(&attr);
+		if (ret!=0) {
+			etThread_handleError(ret, "pthread_attr_init");
+		}
+
+		/* initialize parameters */
+		ret = pthread_attr_getschedparam(&attr, &param);
+		if (ret!=0) {
+			etThread_handleError(ret, "pthread_attr_getschedparam");
+		}
 		param.sched_priority = self->priority;
-		pthread_attr_init(&attr);
-		pthread_attr_setschedparam(&attr, &param);
-		pthread_attr_setschedpolicy(&attr, policy);
-		pthread_attr_setstacksize(&attr, self->stacksize);
 
-		pthread_create(&(self->osData), &attr, (threadFunc) etThread_execute, self);
-		pthread_attr_destroy(&attr);
+		ret = pthread_attr_setinheritsched(&attr, PTHREAD_EXPLICIT_SCHED);
+		if (ret!=0) {
+			etThread_handleError(ret, "pthread_attr_setinheritsched");
+		}
+		ret = pthread_attr_setschedpolicy(&attr, policy);
+		if (ret!=0) {
+			etThread_handleError(ret, "pthread_attr_setschedpolicy");
+		}
+		ret = pthread_attr_setschedparam(&attr, &param);
+		if (ret!=0) {
+			etThread_handleError(ret, "pthread_attr_setschedparam");
+		}
+		ret = pthread_attr_setstacksize(&attr, self->stacksize);
+		if (ret!=0) {
+			etThread_handleError(ret, "pthread_attr_setstacksize");
+		}
+
+		/* try to create the thread with these settings (note: setting scheduling requires higher privileges) */
+		ret = pthread_create(&(self->osData), &attr, (threadFunc) etThread_execute, self);
+		if (ret!=0) {
+			etThread_handleError(ret, "pthread_create");
+			if (ret==EPERM) {
+				printf("pthread_create failed with insufficient permissions, falling back to inherited scheduling\n");
+				ret = pthread_attr_setinheritsched(&attr, PTHREAD_INHERIT_SCHED);
+				if (ret!=0) {
+					etThread_handleError(ret, "pthread_attr_setinheritsched");
+				}
+				ret = pthread_create(&(self->osData), &attr, (threadFunc) etThread_execute, self);
+				if (ret!=0) {
+					etThread_handleError(ret, "pthread_create");
+				}
+			}
+		}
+		ret = pthread_attr_destroy(&attr);
+		if (ret!=0) {
+			etThread_handleError(ret, "pthread_attr_destroy");
+		}
 	}
 	ET_MSC_LOGGER_SYNC_EXIT
 }
 
 void* etThread_execute(etThread* self){
 	ET_MSC_LOGGER_SYNC_ENTRY("etThread", "execute")
+	int ret;
 	self->started = ET_TRUE;
+
 	/* set cancel state, thread must not change to PTHREAD_CANCEL_DISABLE */
-	pthread_setcancelstate(PTHREAD_CANCEL_DEFERRED, NULL);
+	ret = pthread_setcancelstate(PTHREAD_CANCEL_DEFERRED, NULL);
+	if (ret!=0) {
+		etThread_handleError(ret, "pthread_setcancelstate");
+	}
+
 	/* etThread_execute redirects the call from the thread to the execute function in the eTrice runtime to enable correct synchronous MSC logging */
 	self->threadFunction(self->threadFunctionData);
 	ET_MSC_LOGGER_SYNC_EXIT
@@ -91,9 +153,8 @@ void* etThread_execute(etThread* self){
 
 void etThread_destruct(etThread* self){
 	ET_MSC_LOGGER_SYNC_ENTRY("etThread", "destruct")
+	/* Note: thread must not be in state PTHREAD_CANCEL_DISABLE */
 	if (self->started) {
-		self->started = ET_FALSE;
-		/* Note: thread must not be in state PTHREAD_CANCEL_DISABLE */
 		pthread_cancel(self->osData);
 		pthread_join(self->osData, NULL);
 	}