changed thread enum

Signed-off-by: Martin Mayer <[email protected]>

Author: WideAwakeTN

include/rcutils/thread.h

@@ -26,29 +26,35 @@ extern "C"
 /// Enum for OS independent thread priorities
 enum ThreadPriority
 {
+  THREAD_PRIORITY_LOWEST,
+  THREAD_PRIORITY_LOWEST_PLUS1,
+  THREAD_PRIORITY_LOWEST_PLUS2,
+  THREAD_PRIORITY_LOWEST_PLUS3,
+  THREAD_PRIORITY_LOW_MINUS3,
+  THREAD_PRIORITY_LOW_MINUS2,
+  THREAD_PRIORITY_LOW_MINUS1,
   THREAD_PRIORITY_LOW,
   THREAD_PRIORITY_LOW_PLUS1,
   THREAD_PRIORITY_LOW_PLUS2,
   THREAD_PRIORITY_LOW_PLUS3,
-  THREAD_PRIORITY_LOW_PLUS4,
-  THREAD_PRIORITY_LOW_PLUS5,
-  THREAD_PRIORITY_MEDIUM_MINUS5,
-  THREAD_PRIORITY_MEDIUM_MINUS4,
   THREAD_PRIORITY_MEDIUM_MINUS3,
   THREAD_PRIORITY_MEDIUM_MINUS2,
   THREAD_PRIORITY_MEDIUM_MINUS1,
   THREAD_PRIORITY_MEDIUM,
   THREAD_PRIORITY_MEDIUM_PLUS1,
   THREAD_PRIORITY_MEDIUM_PLUS2,
   THREAD_PRIORITY_MEDIUM_PLUS3,
-  THREAD_PRIORITY_MEDIUM_PLUS4,
-  THREAD_PRIORITY_MEDIUM_PLUS5,
-  THREAD_PRIORITY_HIGH_MINUS5,
-  THREAD_PRIORITY_HIGH_MINUS4,
   THREAD_PRIORITY_HIGH_MINUS3,
   THREAD_PRIORITY_HIGH_MINUS2,
   THREAD_PRIORITY_HIGH_MINUS1,
-  THREAD_PRIORITY_HIGH
+  THREAD_PRIORITY_HIGH,
+  THREAD_PRIORITY_HIGH_PLUS1,
+  THREAD_PRIORITY_HIGH_PLUS2,
+  THREAD_PRIORITY_HIGH_PLUS3,
+  THREAD_PRIORITY_HIGHEST_MINUS3,
+  THREAD_PRIORITY_HIGHEST_MINUS2,
+  THREAD_PRIORITY_HIGHEST_MINUS1,
+  THREAD_PRIORITY_HIGHEST
 };
 
 /// Calculates an OS specific thread priority from a ThreadPriority value.
@@ -58,7 +64,7 @@ enum ThreadPriority
  * \return RCUTILS_RET_OK on systems that support POSIX
  */
 RCUTILS_LOCAL
-rcutils_ret_t calculate_os_thread_priority(
+rcutils_ret_t calculate_os_fifo_thread_priority(
   const int thread_priority,
   int * os_priority);
 

src/thread.c

@@ -37,7 +37,7 @@ extern "C"
 {
 #endif
 
-rcutils_ret_t calculate_os_thread_priority(
+rcutils_ret_t calculate_os_fifo_thread_priority(
   const int thread_priority,
   int * os_priority)
 {
@@ -46,15 +46,15 @@ rcutils_ret_t calculate_os_thread_priority(
 #elif __APPLE__
   return RCUTILS_RET_ERROR;
 #else
-  if (thread_priority > THREAD_PRIORITY_HIGH || thread_priority < THREAD_PRIORITY_LOW) {
+  if (thread_priority > THREAD_PRIORITY_HIGHEST || thread_priority < THREAD_PRIORITY_LOWEST) {
     return RCUTILS_RET_ERROR;
   }
   const int max_prio = sched_get_priority_max(SCHED_FIFO);
   const int min_prio = sched_get_priority_min(SCHED_FIFO);
   const int range_prio = max_prio - min_prio;
 
-  int priority = min_prio + (thread_priority - THREAD_PRIORITY_LOW) *
-    range_prio / (THREAD_PRIORITY_HIGH - THREAD_PRIORITY_LOW);
+  int priority = min_prio + (thread_priority - THREAD_PRIORITY_LOWEST) *
+    range_prio / (THREAD_PRIORITY_HIGHEST - THREAD_PRIORITY_LOWEST);
   if (priority > min_prio && priority < max_prio) {
     // on Linux systems THREAD_PRIORITY_MEDIUM should be prio 49 instead of 50
     // in order to not block any interrupt handlers
@@ -80,7 +80,7 @@ rcutils_ret_t configure_native_realtime_thread(
   struct sched_param params;
   int policy;
   success &= (pthread_getschedparam(native_handle, &policy, &params) == 0);
-  success &= (calculate_os_thread_priority(priority, &params.sched_priority) ==
+  success &= (calculate_os_fifo_thread_priority(priority, &params.sched_priority) ==
     RCUTILS_RET_OK ? 1 : 0);
   success &= (pthread_setschedparam(native_handle, SCHED_FIFO, &params) == 0);