Managing thread priority [13594]

[briansoe66]

When I run a publisher and subscriber, fast-dds launches multiple threads. This happens even when both listeners are set to null. Currently, I am setting the process priority, before creating my publisher and subscriber, so that all the fast-dds thread inherit this priority.

What is the best way to:

1. minimize the number of threads launched by fast-dds?
2. set the thread priorities of threads launched by fast-dds, for optimal realtime performance?

[MiguelCompany]

The threads spawned by Fast DDS are enumerated in the docs here

Allowing the user more control over the number of threads and their scheduling parameters is on our roadmap, but not possible at the moment.

[briansoe66]

@MiguelCompany, thanks for the reply and contributing this amazing library. I am happy to hear thread management is on the roadmap :)

[Linkeway]

Hi, I've been thinking about this workaround. Any idea?

std::make_shared<SubListener>(
      [](...) {
        static thread_local bool thread_is_set = pthread_setschedparam(pthread_self()...);
         // actual callback below...
      });

[MiguelCompany]

@briansoe66 It's been a long time, but we have just merged #4013, enabling the configuration of certain parameters for all the threads spawned by Fast DDS.

You can find relevant documentation here and here