Fix CPU pinning in RTUtility and BusIO

Adjusted CPU pinning in the RTUtility and BusIO modules to correctly fix the CPU indices. Earlier, the threads were erroneously always pinned to CPU 0. This adjustment facilitates distributing the load among multiple cores, improving overall system performance. The BusIO's requestHandlerLoop thread is now pinned to CPU 1.

source/armarx/control/ethercat/RTUtility.cpp

@@ -63,7 +63,7 @@ namespace armarx::control::ethercat
         ARMARX_INFO << "Pinning thread #" << pid << " to CPU #" << cpu;
         cpu_set_t mask;
         CPU_ZERO(&mask);
-        CPU_SET(0, &mask);
+        CPU_SET(cpu, &mask);
         int retval = sched_setaffinity(static_cast<int>(pid), sizeof(mask), &mask);
         if (retval != 0)
         {
@@ -72,7 +72,7 @@ namespace armarx::control::ethercat
         }
         cpu_set_t mask2;
         CPU_ZERO(&mask2);
-        CPU_SET(0, &mask2);
+        CPU_SET(cpu, &mask2);
         sched_getaffinity(static_cast<int>(pid), sizeof(mask2), &mask2);
         bool matches = CPU_EQUAL(&mask, &mask2);
         if (matches)

source/armarx/control/ethercat/bus_io/BusIO.cpp

@@ -131,6 +131,7 @@ namespace armarx::control::ethercat
     BusIO::requestHandlerLoop()
     {
         RTUtility::elevateThreadPriority(RTUtility::RT_THREAD_PRIORITY);
+        RTUtility::pinThreadToCPU(1);
 
         while (requestHandlerThreadRunning.load() == true)
         {