AP_HAL_Linux: do not attempt realtime when compiling Replay

libraries/AP_HAL_Linux/Scheduler.cpp

@@ -10,6 +10,7 @@
 #include <unistd.h>
 
 #include <AP_HAL/AP_HAL.h>
+#include <AP_Vehicle/AP_Vehicle_Type.h>
 
 #include "RCInput.h"
 #include "RPIOUARTDriver.h"
@@ -82,18 +83,16 @@ void Scheduler::init()
         SCHED_THREAD(io, IO),
     };
 
+#if !APM_BUILD_TYPE(APM_BUILD_Replay)
+    // we don't run Replay in real-time...
     mlockall(MCL_CURRENT|MCL_FUTURE);
 
-    if (geteuid() != 0) {
-        printf("WARNING: running as non-root. Will not use realtime scheduling\n");
-    }
-
     struct sched_param param = { .sched_priority = APM_LINUX_MAIN_PRIORITY };
-    ret = sched_setscheduler(0, SCHED_FIFO, &param);
-    if (ret == -1) {
+    if (sched_setscheduler(0, SCHED_FIFO, &param) == -1) {
         AP_HAL::panic("Scheduler: failed to set scheduling parameters: %s",
                       strerror(errno));
     }
+#endif
 
     /* set barrier to N + 1 threads: worker threads + main */
     unsigned n_threads = ARRAY_SIZE(sched_table) + 1;