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Fix priority check for LXRT #3879

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Fix priority check for LXRT #3879

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1 change: 1 addition & 0 deletions src/rtapi/rtapi_uspace.hh
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Original file line number Diff line number Diff line change
Expand Up @@ -75,6 +75,7 @@ struct RtapiApp
virtual int prio_lowest() const;
int prio_higher_delta() const;
int prio_bound(int prio) const;
bool prio_check(int prio) const;
int prio_next_higher(int prio) const;
int prio_next_lower(int prio) const;
long clock_set_period(long int period_nsec);
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12 changes: 11 additions & 1 deletion src/rtapi/uspace_rtapi_app.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -869,6 +869,14 @@ int RtapiApp::prio_bound(int prio) const {
return prio;
}

bool RtapiApp::prio_check(int prio) const {
if(rtapi_prio_highest() > rtapi_prio_lowest()) {
return (prio <= rtapi_prio_highest()) && (prio >= rtapi_prio_lowest());
} else {
return (prio <= rtapi_prio_lowest()) && (prio >= rtapi_prio_highest());
}
}

int RtapiApp::prio_next_higher(int prio) const
{
prio = prio_bound(prio);
Expand Down Expand Up @@ -899,8 +907,10 @@ int RtapiApp::allocate_task_id()
int RtapiApp::task_new(void (*taskcode) (void*), void *arg,
int prio, int owner, unsigned long int stacksize, int uses_fp) {
/* check requested priority */
if ((prio > rtapi_prio_highest()) || (prio < rtapi_prio_lowest()))
if (!prio_check(prio))
{
rtapi_print_msg(RTAPI_MSG_ERR,"rtapi:task_new prio is not in bound lowest %i prio %i highest %i\n",
rtapi_prio_lowest(), prio, rtapi_prio_highest());
return -EINVAL;
}

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