Method init

libraries/AP_HAL_Linux/Scheduler.cpp:102–142

}

void Scheduler::init()
{
    int ret;
    const struct sched_table {
        const char *name;
        SchedulerThread *thread;
        int policy;
        int prio;
        uint32_t rate;
    } sched_table[] = {
        SCHED_THREAD(timer, TIMER),
        SCHED_THREAD(uart, UART),
        SCHED_THREAD(rcin, RCIN),
        SCHED_THREAD(io, IO),
    };

    _main_ctx = pthread_self();

    init_realtime();
    init_cpu_affinity();

    /* set barrier to N + 1 threads: worker threads + main */
    unsigned n_threads = ARRAY_SIZE(sched_table) + 1;
    ret = pthread_barrier_init(&_initialized_barrier, nullptr, n_threads);
    if (ret) {
        AP_HAL::panic("Scheduler: Failed to initialise barrier object: %s",
                      strerror(ret));
    }

    for (size_t i = 0; i < ARRAY_SIZE(sched_table); i++) {
        const struct sched_table *t = &sched_table[i];

        t->thread->set_rate(t->rate);
        t->thread->set_stack_size(1024 * 1024);
        t->thread->start(t->name, t->policy, t->prio);
    }

#if defined(DEBUG_STACK) && DEBUG_STACK
    register_timer_process(FUNCTOR_BIND_MEMBER(&Scheduler::_debug_stack, void));
#endif
}

void Scheduler::_debug_stack()
{