multithread.c

rtlinux下面的多线程程序

#include <rtl.h>
#include <time.h>
//#include <rtl_time.h>
#include <pthread.h>

pthread_t thread0;
pthread_t thread1;
pthread_t thread2;
int i,j,k;

void * start_routine1(void *arg)
{

   pthread_make_periodic_np (pthread_self(), gethrtime(), 500000);
  
   for(i=0;i<10;i++)
   {
      pthread_wait_np ();
     // rtl_printf("now i = %d\n",i);
   }
   rtl_printf("I am the first thread! now i = %d\n",i);
   return 0;
}
void * start_routine2(void *arg)
{

   pthread_make_periodic_np (pthread_self(), gethrtime(), 1000000);
  
   for(j=0;j<20;j++)
   {
      pthread_wait_np ();
     // rtl_printf("now j = %d\n",j);
   }
   rtl_printf("I am the second thread! now j = %d\n",j);
   return 0;
}
void * start_routine3(void *arg)
{

   pthread_make_periodic_np (pthread_self(), gethrtime(), 1500000);
  
   for(k=0;k<30;k++)
   {
      pthread_wait_np ();
      //rtl_printf("now k = %d\n",k);
   }
   rtl_printf("I am the third thread! now k = %d\n",k);
   return 0;
}

int init_module(void)
{
pthread_attr_t attr;
struct sched_param sched_param;
int ret;

pthread_attr_init (&attr);
sched_param.sched_priority = 1;
pthread_attr_setschedparam (&attr, &sched_param);
ret = pthread_create (&thread0, &attr, start_routine1, (void *)1);
if(ret)
{
 rtl_printf("failed to create thread 0!\n");
 return -1;
}
else
{
  rtl_printf("create thread 0 success!\n");
}

pthread_attr_init (&attr);
sched_param.sched_priority = 2;
pthread_attr_setschedparam (&attr, &sched_param);
ret = pthread_create (&thread1, &attr, start_routine2, (void *)2);
if(ret)
{
 rtl_printf("failed to create thread 1!\n");
 return -1;
}
else
{
  rtl_printf("create thread 1 success!\n");
}

pthread_attr_init (&attr);
sched_param.sched_priority = 3;
pthread_attr_setschedparam (&attr, &sched_param);
ret = pthread_create (&thread2, &attr, start_routine3, (void *)2);
if(ret)
{
 rtl_printf("failed to create thread 2!\n");
 return -1;
}
else
{
  rtl_printf("create thread 2 success!\n");
}
return 0;

}

void cleanup_module(void) 
{
pthread_cancel (thread0);
pthread_join (thread0, NULL);
pthread_cancel (thread1);
pthread_join (thread1, NULL);
pthread_cancel (thread2);
pthread_join (thread2, NULL);
}