Function thread_start

TactilityKernel/source/concurrent/thread.cpp:174–231

}

error_t thread_start(Thread* thread) {
    thread->lock();
    check(thread->mainFunction != nullptr);
    check(thread->state == THREAD_STATE_STOPPED);
    check(thread->stackSize);
    thread->unlock();

    thread_set_state_internal(thread, THREAD_STATE_STARTING);

    thread->lock();
    uint32_t stack_depth = thread->stackSize / sizeof(StackType_t);
    enum ThreadPriority priority = thread->priority;
    portBASE_TYPE affinity = thread->affinity;
    thread->unlock();

    BaseType_t result;
    if (affinity != -1) {
#ifdef ESP_PLATFORM
        result = xTaskCreatePinnedToCore(
            thread_main_body,
            thread->name.c_str(),
            stack_depth,
            thread,
            (UBaseType_t)priority,
            &thread->taskHandle,
            affinity
        );
#else
        result = xTaskCreate(
            thread_main_body,
            thread->name.c_str(),
            stack_depth,
            thread,
            (UBaseType_t)priority,
            &thread->taskHandle
        );
#endif
    } else {
        result = xTaskCreate(
            thread_main_body,
            thread->name.c_str(),
            stack_depth,
            thread,
            (UBaseType_t)priority,
            &thread->taskHandle
        );
    }

    if (result != pdPASS) {
        thread_set_state_internal(thread, THREAD_STATE_STOPPED);
        thread->lock();
        thread->taskHandle = nullptr;
        thread->unlock();
        return ERROR_UNDEFINED;
    }

    return ERROR_NONE;
}