Add thread yield capability #23
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otavio
approved these changes
Jun 27, 2025
Signed-off-by: Gerson Fernando Budke <[email protected]>
Current the Behaviour Tree does not yield. This could lead to side effects like starvation and lost of interrupts on critical systems. This add the capability to the user define if engine should perform a k_yield() to give opportunity to other threads with the same priority to run. This do not affect the time slice configuration and both can be used. The time slice can be useful when a very long action may block tree walk. To enable time slice make sure that behaviour tree priority is greater than TIMESLICE_PRIORITY and TIMESLICING=y. The best walkthru performace can be achieve when ZEPHYR_BEHAVIOUR_TREE_ALLOW_YIELD option is disabled. Signed-off-by: Gerson Fernando Budke <[email protected]>
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Current the Behaviour Tree does not yield. This could lead to side effects like starvation and lost of interrupts on critical systems. This add the capability to the user define if engine should perform a k_yield() to give opportunity to other threads with the same priority to run.
This do not affect the time slice configuration and both can be used. The time slice can be useful when a very long action may block tree walk. To enable time slice make sure that behaviour tree priority is greater than TIMESLICE_PRIORITY and TIMESLICING=y.
The best walkthru performace can be achieve when
ZEPHYR_BEHAVIOUR_TREE_ALLOW_YIELD option is disabled.