re-enable mac priority

Author: TrentHouliston

src/util/ThreadPriority.cpp

@@ -34,6 +34,7 @@ void set_priority(const NUClear::PriorityLevel& priority) {
         case IDLE: SetThreadPriority(GetCurrentThread(), THREAD_PRIORITY_IDLE); break;
         case LOWEST: SetThreadPriority(GetCurrentThread(), THREAD_PRIORITY_LOWEST); break;
         case LOW: SetThreadPriority(GetCurrentThread(), THREAD_PRIORITY_BELOW_NORMAL); break;
+        default:  // Default to normal if someone broke the enum
         case NORMAL: SetThreadPriority(GetCurrentThread(), THREAD_PRIORITY_NORMAL); break;
         case HIGH: SetThreadPriority(GetCurrentThread(), THREAD_PRIORITY_ABOVE_NORMAL); break;
         case HIGHEST: SetThreadPriority(GetCurrentThread(), THREAD_PRIORITY_HIGHEST); break;
@@ -90,17 +91,17 @@ void set_priority(const NUClear::PriorityLevel& priority) {
 
 namespace {
 
-void set_priority(const NUClear::PriorityLevel& /*priority*/) {
-    // TODO try doing nothing, see if it works without setting any priority
-    // switch (priority) {
-    //     case NUClear::PriorityLevel::IDLE: pthread_set_qos_class_self_np(QOS_CLASS_BACKGROUND, 0); break;
-    //     case NUClear::PriorityLevel::LOWEST: pthread_set_qos_class_self_np(QOS_CLASS_UTILITY, 1); break;
-    //     case NUClear::PriorityLevel::LOW: pthread_set_qos_class_self_np(QOS_CLASS_UTILITY, 0); break;
-    //     case NUClear::PriorityLevel::NORMAL: pthread_set_qos_class_self_np(QOS_CLASS_DEFAULT, 0); break;
-    //     case NUClear::PriorityLevel::HIGH: pthread_set_qos_class_self_np(QOS_CLASS_USER_INITIATED, 1); break;
-    //     case NUClear::PriorityLevel::HIGHEST: pthread_set_qos_class_self_np(QOS_CLASS_USER_INITIATED, 0); break;
-    //     case NUClear::PriorityLevel::REALTIME: pthread_set_qos_class_self_np(QOS_CLASS_USER_INTERACTIVE, 0); break;
-    // }
+void set_priority(const NUClear::PriorityLevel& priority) {
+    switch (priority) {
+        case NUClear::PriorityLevel::IDLE: pthread_set_qos_class_self_np(QOS_CLASS_BACKGROUND, 0); break;
+        case NUClear::PriorityLevel::LOWEST: pthread_set_qos_class_self_np(QOS_CLASS_UTILITY, 1); break;
+        case NUClear::PriorityLevel::LOW: pthread_set_qos_class_self_np(QOS_CLASS_UTILITY, 0); break;
+        default:  // Default to normal if someone broke the enum
+        case NUClear::PriorityLevel::NORMAL: pthread_set_qos_class_self_np(QOS_CLASS_DEFAULT, 0); break;
+        case NUClear::PriorityLevel::HIGH: pthread_set_qos_class_self_np(QOS_CLASS_USER_INITIATED, 1); break;
+        case NUClear::PriorityLevel::HIGHEST: pthread_set_qos_class_self_np(QOS_CLASS_USER_INITIATED, 0); break;
+        case NUClear::PriorityLevel::REALTIME: pthread_set_qos_class_self_np(QOS_CLASS_USER_INTERACTIVE, 0); break;
+    }
 }
 
 }  // namespace