Module realtime 

Realtime scheduling helpers — a port of src/control_tools.cpp (libfranka 0.21.2).

A 1 kHz FCI control loop needs SCHED_FIFO and a PREEMPT_RT kernel to keep its deadline. libfranka checks both before starting a motion; RealtimeConfig selects whether this crate does the same.

Enums

RealtimeConfig

Whether a control loop insists on realtime scheduling (mirrors franka::RealtimeConfig).

Constants

NO_REALTIME_KERNEL_MESSAGE

Error text libfranka raises when RealtimeConfig::Enforce meets a non-realtime kernel (franka::Robot’s constructor).

Functions

check_realtime

Checks the realtime prerequisites for config, returning libfranka’s error text.

has_realtime_kernel

Whether the running kernel advertises realtime capabilities.

set_current_thread_scheduler_priority

Puts the calling thread on SCHED_FIFO at priority (1 to 99 on Linux).

set_current_thread_to_highest_scheduler_priority

Raises the calling thread to the highest SCHED_FIFO priority.