Method start

libraries/AP_HAL_Linux/Thread.cpp:161–207

}

bool Thread::start(const char *name, int policy, int prio)
{
    if (_started) {
        return false;
    }

    struct sched_param param = { .sched_priority = prio };
    pthread_attr_t attr;
    int r;

    pthread_attr_init(&attr);

    /*
      we need to run as root to get realtime scheduling. Allow it to
      run as non-root for debugging purposes, plus to allow the Replay
      tool to run
     */
    if (geteuid() == 0) {
        if ((r = pthread_attr_setinheritsched(&attr, PTHREAD_EXPLICIT_SCHED)) != 0 ||
            (r = pthread_attr_setschedpolicy(&attr, policy)) != 0 ||
            (r = pthread_attr_setschedparam(&attr, &param)) != 0) {
            AP_HAL::panic("Failed to set attributes for thread '%s': %s",
                          name, strerror(r));
        }
    }

    if (_stack_size) {
        if (pthread_attr_setstacksize(&attr, _stack_size) != 0) {
            return false;
        }
    }

    r = pthread_create(&_ctx, &attr, &Thread::_run_trampoline, this);
    if (r != 0) {
        AP_HAL::panic("Failed to create thread '%s': %s",
                      name, strerror(r));
    }
    pthread_attr_destroy(&attr);

    if (name) {
        pthread_setname_np(_ctx, name);
    }

    _started = true;

    return true;
}

bool Thread::is_current_thread()
{