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feat(rtps): menuconfig option for the transport task priority - #856
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finger563 merged 1 commit intoOct 22, 2026
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…ctor task priority CONFIG_RTPS_THREAD_POOL_READER_PRIO (0 = the profile's default, so nothing changes unless it is set) overrides THREAD_POOL_READER_PRIO through a new RTPS_CFG_THREAD_POOL_READER_PRIO macro, in the same way as the capacity overrides. EsppTransport already gives that priority to its worker pool (rtps_worker_<n>) and its reactor (rtps_reactor). Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
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✅Static analysis result - no issues found! ✅ |
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This was referenced Oct 22, 2026
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Description
The transport's worker pool (
rtps_worker_<n>) and reactor (rtps_reactor) run at theprofile's fixed
THREAD_POOL_READER_PRIO(5 on ESP32). This addsCONFIG_RTPS_THREAD_POOL_READER_PRIO(RTPS -> Transport task priority (advanced)) to set it.0, the default, keeps the profile's value, so nothing changes unless it is set.It follows the same path as the capacity overrides: Kconfig →
RTPS_CFG_THREAD_POOL_READER_PRIO→ the three profile headers. The README is updated.
Motivation and Context
All RTPS sends and receives run on these tasks. A busy task of higher priority on their core
stops all traffic until it yields, and
QosBandcan't help with that. On an ESP32-P4, a UI taskat priority 20 busy for about 1 s starved an e-stop heartbeat (100 ms period, 300 ms timeout):
History overflowHow has this been tested?
rtpsexample builds for esp32 with IDF v6.0.1, both with the option at 0 and at 20.The define reaches
EsppTransport.cpponly when set. No new warnings, and clang-format isclean.
Types of changes
Checklist:
Software
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