fix(cie): address misc code quality issues

.github/workflows/build-and-test.yaml

@@ -5,9 +5,6 @@ on:
     types:
       - labeled
 
-env:
-  CARGO_TERM_COLOR: always
-
 jobs:
   build-and-test:
     if: ${{ github.event.label.name == 'run-build-test' }}

cie_thread_configurator/include/cie_thread_configurator/sched_deadline.hpp

@@ -24,7 +24,7 @@ struct sched_attr {
 };
 #endif
 
-int sched_setattr(pid_t pid, const struct sched_attr *attr,
-                  unsigned int flags) {
+inline int sched_setattr(pid_t pid, const struct sched_attr *attr,
+                         unsigned int flags) {
   return syscall(__NR_sched_setattr, pid, attr, flags);
 }

cie_thread_configurator/include/cie_thread_configurator/thread_configurator_node.hpp

@@ -15,12 +15,12 @@ class ThreadConfiguratorNode : public rclcpp::Node {
     int64_t thread_id = -1;
     std::vector<int> affinity;
     std::string policy;
-    int priority;
+    int priority = 0;
 
     // For SCHED_DEADLINE
-    unsigned int runtime;
-    unsigned int period;
-    unsigned int deadline;
+    unsigned int runtime = 0;
+    unsigned int period = 0;
+    unsigned int deadline = 0;
 
     bool applied = false;
   };

cie_thread_configurator/src/thread_configurator_node.cpp

@@ -4,6 +4,7 @@
 #include <string>
 #include <string_view>
 #include <unordered_map>
+#include <unordered_set>
 #include <vector>
 
 #include <error.h>
@@ -71,13 +72,23 @@ ThreadConfiguratorNode::ThreadConfiguratorNode(
     return s;
   };
 
+  static const std::unordered_set<std::string> valid_policies = {
+      "SCHED_OTHER", "SCHED_BATCH", "SCHED_IDLE",
+      "SCHED_FIFO",  "SCHED_RR",    "SCHED_DEADLINE",
+  };
+
   // Common lambda to load thread configuration from YAML
   auto load_thread_config = [](ThreadConfig &config, const YAML::Node &node) {
     config.thread_str = node["id"].as<std::string>();
     for (auto &cpu : node["affinity"])
       config.affinity.push_back(cpu.as<int>());
     config.policy = node["policy"].as<std::string>();
 
+    if (valid_policies.find(config.policy) == valid_policies.end()) {
+      throw std::runtime_error("Unknown scheduling policy '" + config.policy +
+                               "' for id=" + config.thread_str);
+    }
+
     if (config.policy == "SCHED_DEADLINE") {
       config.runtime = node["runtime"].as<unsigned int>();
       config.period = node["period"].as<unsigned int>();
@@ -197,8 +208,11 @@ bool ThreadConfiguratorNode::set_affinity_by_cgroup(
 
   std::string cpus_path = cgroup_path + "/cpuset.cpus";
   if (std::ofstream cpus_file{cpus_path}) {
-    for (int cpu : cpus)
-      cpus_file << cpu << ",";
+    for (size_t i = 0; i < cpus.size(); i++) {
+      if (i > 0)
+        cpus_file << ",";
+      cpus_file << cpus[i];
+    }
   } else {
     return false;
   }
@@ -288,6 +302,11 @@ bool ThreadConfiguratorNode::issue_syscalls(const ThreadConfig &config) {
           config.thread_str.c_str(), config.thread_id, strerror(errno));
       return false;
     }
+  } else {
+    RCLCPP_ERROR(
+        this->get_logger(), "Unknown scheduling policy '%s' (id=%s, tid=%ld)",
+        config.policy.c_str(), config.thread_str.c_str(), config.thread_id);
+    return false;
   }
 
   if (config.affinity.size() > 0) {