Update thread_priority.cpp

Adding implementation for build on windows.
ros-controls · Aug 21, 2024 · 47d2901 · 47d2901
1 parent 7bd84f6
commit 47d2901
Showing 1 changed file with 10 additions and 1 deletion.
diff --git a/src/thread_priority.cpp b/src/thread_priority.cpp
@@ -28,7 +28,11 @@
 
 #include "realtime_tools/thread_priority.hpp"
 
-#include <sched.h>
+#ifdef _WIN32
+ #include <windows.h>
+#else
+ #include <sched.h>
+#endif
 
 #include <cstring>
 #include <fstream>
@@ -47,10 +51,15 @@ bool has_realtime_kernel()
 
 bool configure_sched_fifo(int priority)
 {
+ #ifdef _WIN32
+ HANDLE thread = GetCurrentThread();
+ return SetThreadPriority(thread, priority);
+ #else
  struct sched_param schedp;
  memset(&schedp, 0, sizeof(schedp));
  schedp.sched_priority = priority;
  return !sched_setscheduler(0, SCHED_FIFO, &schedp);
+ #endif
 }
 
 } // namespace realtime_tools