Plc threads can now use SCHED_DEADLINE by setting a deadline > 0

src/lib/rt/src/rt_plc_thread.c

@@ -38,6 +38,7 @@
    Run a PLC thread.  */
 
 #include <errno.h>
+#include <float.h>
 #include <pwd.h>
 #include <string.h>
 #include <unistd.h>
@@ -313,8 +314,8 @@ void plc_thread(plc_sThread* tp)
 
   tp->init(1, tp);
 
-  if (tp->PlcThread->Prio < 0) {
-    thread_SetDeadline(tp->PlcThread);
+  if (tp->PlcThread->Deadline > FLT_EPSILON) {
+    sts = thread_SetDeadline(tp->PlcThread);
   } else {
     sts = thread_SetPrio(&tp->tid, tp->prio);
   }

src/lib/rt/src/rt_thread.c

@@ -35,6 +35,7 @@
  */
 
 #include <errno.h>
+#include <float.h>
 #include <inttypes.h>
 #include <stdio.h>
 #include <stdlib.h>
@@ -248,11 +249,11 @@ pwr_tStatus thread_SetDeadline(pwr_sClass_PlcThread* o)
           o->Description, attr.sched_period / (1000 * 1000),
           attr.sched_runtime / (1000 * 1000));
     }
-    /*if (o->Deadline) {
+    if (o->Deadline > FLT_EPSILON) {
       attr.sched_deadline = toNs(o->Deadline);
-    } else {*/
-    attr.sched_deadline = toNs(o->ScanTime);
-    //}
+    } else {
+      attr.sched_deadline = toNs(o->ScanTime);
+    }
 
     int ret = sched_setattr(tid, &attr, 0);
     if (ret != 0) {

src/wbl/pwrb/src/pwrb_c_plcthread.wb_load

@@ -74,6 +74,14 @@ SObject pwrb:Class
 	EndBody
       EndObject
       !/**
+      !  Deadline for the plc thread.
+      !*/
+      Object Deadline $Attribute 37
+	Body SysBody
+	  Attr TypeRef = "pwrs:Type-$Float32"
+	EndBody
+      EndObject
+      !/**
       !  Plc thread options.
       !  Specification of the action when the execution time exceeds
       !  the scantime.