Issues on system with vxWorks 6.9 without round robin

[SvenPC]

We have running vxWorks 6.9 and for several reasons the scheduler is configured that there is no "round robin" for tasks on same priority.
So we got issues that the task wich is running IOManagerUaNodePrivate::run() is going into non cooperative mode.
We are using OPCUA SDK V1.5.6. I have checked for OPCUA SDK V1.6.1: still the same.

The solution is very easy: if timeTillNextSampling is <= 0 you have to call msleep(0) to give CPU slices to other OPCUA tasks.
I would be happy to find that in newer SDK versions.

// only call sleep if we need to wait
if (timeTillNextSampling > 0)
{
sleepTime = timeTillNextSampling;
msleep(sleepTime);
}
else
{ // if we go without sleep the other OpcUA tasks never gets CPU time (no round robin in scheduler in vxworks)
msleep(0); // be cooperative and give other tasks the chance to execute
}

Regards.

[Support Team]

Hello SvenPC,

I understand and agree with what you are saying. I created a ticket for the development to take account of this.