Use Realtime Scheduling

[1cedsoda]

fix #7

[Copilot]

Pull Request Overview

This PR adds real-time scheduling support by locking process memory and setting thread priorities to improve determinism in critical loops.

• Calls lock_memory early in main to prevent page faults
• Invokes set_realtime_priority in both the main loop and EtherCAT thread
• Introduces a new control_core::realtime module with lock_memory and set_realtime_priority and updates dependencies

Reviewed Changes

Copilot reviewed 6 out of 7 changed files in this pull request and generated 1 comment.

Show a summary per file

File	Description
server/src/main.rs	Added lock_memory() call with error/info logging
server/src/loop.rs	Added set_realtime_priority() in the main loop thread
server/src/ethercat/setup.rs	Added set_realtime_priority() in the EtherCAT TxRx thread
control-core/src/realtime.rs	New module implementing memory locking and scheduling APIs
control-core/src/lib.rs	Exposed the new realtime module
control-core/Cargo.toml	Added libc dependency for Unix targets

Comments suppressed due to low confidence (3)

control-core/src/realtime.rs:10

• The doc comment states priority 80, but the code sets param.sched_priority = 95. Update the documentation to match the actual value or adjust the code to use 80 for consistency.

/// 2. Setting the real-time priority to 80 (on a scale of 1-99, where higher values indicate

control-core/src/realtime.rs:1

• [nitpick] The new real-time functions lack unit tests. Consider adding tests (possibly via integration/mocking) for lock_memory() and set_realtime_priority() to validate behavior and error handling.

#[cfg(unix)]

control-core/Cargo.toml:24

• Non-Unix branches use log::error!, but log isn’t listed under [dependencies]. Add log = "0.4" or switch to tracing::error! for consistency and to ensure compilation.

[target.'cfg(unix)'.dependencies]