rcclScheduling(3)

NAME
rcclScheduling -- set the RCCL scheduling discipline.

USAGE
#include <rccl.h>

rcclScheduling (disp)
  int disp;

ARGUMENTS

disp --
    Scheduling discipline.

RESTRICTIONS
Must be called from the planning level, before the first call to rcclCreate().

DESCRIPTION
This routine sets the scheduling discipline for the RCCL control level.

This scheduling discipline, which is one of ON_CLOCK, ON_TRIGGER, or ON_FUNCTION, is used to control the scheduling of the RCI task running the trajectory generator. A description of these disciplines can be found in rciScheduling(3) and RCCL_params(5).

The discipline set by this routine will override the default discipline described by the scheduling parameter in the .rciparams file.

DIAGNOSTICS
rcclScheduling() returns -1 in the event of an error. It will automatically abort the program if the option RCCL_ERROR_EXIT is set (see rcclSetOptions(3)). Error codes and messages are placed on the errorStack (q.v.). The following error codes may be set:

EBadArg --
    Illegal argument specified.

The routine will abort the program if called from the control level.

SEE ALSO
RCCL_params(5), rciScheduling(3).