plugins/ros2/org.eclipse.papyrus.robotics.ros2.codegen.cpp.ui/models/library/rclcppLibrary.uml

<?xml version="1.0" encoding="UTF-8"?>
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        <body>A thread service supporting the LifeCycle port. Once started, it calls the activate operation (via the required port rLC) of a connected component in a new thread of a specific priority (a configuration attribute). This C++ implementation is based on the POSIX pthread library. It will further assume that the execution is done with root privileges, since these are required to set the thread priority. The thread properties assume round-robin (SCHED_RR) scheduling.
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        <body> Interceptor variant of thread (inherits all, only difference to Thread superclass: tagged as connector)</body>
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          <body>Priority of the thread. The interpretation of the value is OS specific. In case of POSIX; priorities are only taken into account for threads with a FIFO and round-robin scheduliung policy.</body>
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          <body>((Thread*) arg)->rRun->run();
return NULL;
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          <body>// create thread
pthread_t pt;
pthread_create (&amp;pt, NULL, staticAct, (void *) this);

// set priority of thread
struct sched_param schedParam;
schedParam.sched_priority = priority;
pthread_setschedparam (pt, SCHED_RR, &amp;schedParam);
// TODO: check return code (in particular, SCHED_RR only works for root)
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