void cond_test(void)
{
  pthread_t waiter;
  pthread_t signaler;
  pthread_attr_t attr;
#ifdef SDCC
  pthread_addr_t result;
#endif
  struct sched_param sparam;
  int prio_min;
  int prio_max;
  int prio_mid;
  int status;

  /* Initialize the mutex */

  printf("cond_test: Initializing mutex\n");
  status = pthread_mutex_init(&mutex, NULL);
  if (status != 0)
    {
      printf("cond_test: ERROR pthread_mutex_init failed, status=%d\n", status);
    }

  /* Initialize the condition variable */

  printf("cond_test: Initializing cond\n");
  status = pthread_cond_init(&cond, NULL);
  if (status != 0)
    {
      printf("cond_test: ERROR pthread_condinit failed, status=%d\n", status);
    }

  /* Start the waiter thread at higher priority */

  printf("cond_test: Starting waiter\n");
  status = pthread_attr_init(&attr);
  if (status != 0)
    {
      printf("cond_test: pthread_attr_init failed, status=%d\n", status);
    }

  prio_min = sched_get_priority_min(SCHED_FIFO);
  prio_max = sched_get_priority_max(SCHED_FIFO);
  prio_mid = (prio_min + prio_max) / 2;

  sparam.sched_priority = prio_mid;
  status = pthread_attr_setschedparam(&attr,&sparam);
  if (status != OK)
    {
      printf("cond_test: pthread_attr_setschedparam failed, status=%d\n", status);
    }
  else
    {
      printf("cond_test: Set thread 1 priority to %d\n", sparam.sched_priority);
    }

  status = pthread_create(&waiter, &attr, thread_waiter, NULL);
  if (status != 0)
    {
      printf("cond_test: pthread_create failed, status=%d\n", status);
    }

  printf("cond_test: Starting signaler\n");
  status = pthread_attr_init(&attr);
  if (status != 0)
    {
      printf("cond_test: pthread_attr_init failed, status=%d\n", status);
    }

  sparam.sched_priority = (prio_min + prio_mid) / 2;
  status = pthread_attr_setschedparam(&attr,&sparam);
  if (status != OK)
    {
      printf("cond_test: pthread_attr_setschedparam failed, status=%d\n", status);
    }
  else
    {
      printf("cond_test: Set thread 2 priority to %d\n", sparam.sched_priority);
    }

  status = pthread_create(&signaler, &attr, thread_signaler, NULL);
  if (status != 0)
    {
      printf("cond_test: pthread_create failed, status=%d\n", status);
    }

  /* Wait for the threads to stop */

#ifdef SDCC
  pthread_join(signaler, &result);
#else
  pthread_join(signaler, NULL);
#endif
  printf("cond_test: signaler terminated, now cancel the waiter\n");
  pthread_detach(waiter);
  pthread_cancel(waiter);

  printf("cond_test: \tWaiter\tSignaler\n");
  printf("cond_test: Loops\t%d\t%d\n", waiter_nloops, signaler_nloops);
  printf("cond_test: Errors\t%d\t%d\n", waiter_nerrors, signaler_nerrors);
//.........这里部分代码省略.........

wxThreadError wxThread::Create(unsigned int WXUNUSED(stackSize))
{
    if ( m_internal->GetState() != STATE_NEW )
    {
        // don't recreate thread
        return wxTHREAD_RUNNING;
    }

    // set up the thread attribute: right now, we only set thread priority
    pthread_attr_t attr;
    pthread_attr_init(&attr);

#ifdef HAVE_THREAD_PRIORITY_FUNCTIONS
    int policy;
    if ( pthread_attr_getschedpolicy(&attr, &policy) != 0 )
    {
        wxLogError(_("Cannot retrieve thread scheduling policy."));
    }

#ifdef __VMS__
   /* the pthread.h contains too many spaces. This is a work-around */
# undef sched_get_priority_max
#undef sched_get_priority_min
#define sched_get_priority_max(_pol_) \
     (_pol_ == SCHED_OTHER ? PRI_FG_MAX_NP : PRI_FIFO_MAX)
#define sched_get_priority_min(_pol_) \
     (_pol_ == SCHED_OTHER ? PRI_FG_MIN_NP : PRI_FIFO_MIN)
#endif

    int max_prio = sched_get_priority_max(policy),
        min_prio = sched_get_priority_min(policy),
        prio = m_internal->GetPriority();

    if ( min_prio == -1 || max_prio == -1 )
    {
        wxLogError(_("Cannot get priority range for scheduling policy %d."),
                   policy);
    }
    else if ( max_prio == min_prio )
    {
        if ( prio != WXTHREAD_DEFAULT_PRIORITY )
        {
            // notify the programmer that this doesn't work here
            wxLogWarning(_("Thread priority setting is ignored."));
        }
        //else: we have default priority, so don't complain

        // anyhow, don't do anything because priority is just ignored
    }
    else
    {
        struct sched_param sp;
        if ( pthread_attr_getschedparam(&attr, &sp) != 0 )
        {
            wxFAIL_MSG(_T("pthread_attr_getschedparam() failed"));
        }

        sp.sched_priority = min_prio + (prio*(max_prio - min_prio))/100;

        if ( pthread_attr_setschedparam(&attr, &sp) != 0 )
        {
            wxFAIL_MSG(_T("pthread_attr_setschedparam(priority) failed"));
        }
    }
#endif // HAVE_THREAD_PRIORITY_FUNCTIONS

#ifdef HAVE_PTHREAD_ATTR_SETSCOPE
    // this will make the threads created by this process really concurrent
    if ( pthread_attr_setscope(&attr, PTHREAD_SCOPE_SYSTEM) != 0 )
    {
        wxFAIL_MSG(_T("pthread_attr_setscope(PTHREAD_SCOPE_SYSTEM) failed"));
    }
#endif // HAVE_PTHREAD_ATTR_SETSCOPE

    // VZ: assume that this one is always available (it's rather fundamental),
    //     if this function is ever missing we should try to use
    //     pthread_detach() instead (after thread creation)
    if ( m_isDetached )
    {
        if ( pthread_attr_setdetachstate(&attr, PTHREAD_CREATE_DETACHED) != 0 )
        {
            wxFAIL_MSG(_T("pthread_attr_setdetachstate(DETACHED) failed"));
        }

        // never try to join detached threads
        m_internal->Detach();
    }
    //else: threads are created joinable by default, it's ok

    // create the new OS thread object
    int rc = pthread_create
             (
                m_internal->GetIdPtr(),
                &attr,
                wxPthreadStart,
                (void *)this
             );

    if ( pthread_attr_destroy(&attr) != 0 )
    {
//.........这里部分代码省略.........

static inline int nxtext_muinitialize(void)
{
  struct sched_param param;
  pthread_t thread;
  pid_t servrid;
  int ret;

  /* Set the client task priority */

  param.sched_priority = CONFIG_EXAMPLES_NXTEXT_CLIENTPRIO;
  ret = sched_setparam(0, &param);
  if (ret < 0)
    {
      printf("nxtext_initialize: sched_setparam failed: %d\n" , ret);
      g_exitcode = NXEXIT_SCHEDSETPARAM;
      return ERROR;
    }

  /* Start the server task */

  printf("nxtext_initialize: Starting nxtext_server task\n");
  servrid = task_create("NX Server", CONFIG_EXAMPLES_NXTEXT_SERVERPRIO,
                        CONFIG_EXAMPLES_NXTEXT_STACKSIZE, nxtext_server, NULL);
  if (servrid < 0)
    {
      printf("nxtext_initialize: Failed to create nxtext_server task: %d\n", errno);
      g_exitcode = NXEXIT_TASKCREATE;
      return ERROR;
    }

  /* Wait a bit to let the server get started */

  sleep(1);

  /* Connect to the server */

  g_hnx = nx_connect();
  if (g_hnx)
    {
       pthread_attr_t attr;

       /* Start a separate thread to listen for server events.  This is probably
        * the least efficient way to do this, but it makes this example flow more
        * smoothly.
        */

       (void)pthread_attr_init(&attr);
       param.sched_priority = CONFIG_EXAMPLES_NXTEXT_LISTENERPRIO;
       (void)pthread_attr_setschedparam(&attr, &param);
       (void)pthread_attr_setstacksize(&attr, CONFIG_EXAMPLES_NXTEXT_STACKSIZE);

       ret = pthread_create(&thread, &attr, nxtext_listener, NULL);
       if (ret != 0)
         {
            printf("nxtext_initialize: pthread_create failed: %d\n", ret);
            g_exitcode = NXEXIT_PTHREADCREATE;
            return ERROR;
         }

       /* Don't return until we are connected to the server */

       while (!g_connected)
         {
           /* Wait for the listener thread to wake us up when we really
            * are connected.
            */

           (void)sem_wait(&g_semevent);
         }
    }
  else
    {
      printf("nxtext_initialize: nx_connect failed: %d\n", errno);
      g_exitcode = NXEXIT_NXCONNECT;
      return ERROR;
    }
  return OK;
}

int main (int ac, char **av)
{
    int err;
    char *cp, *progname = (char*)basename(av[0]), *rtdm_driver;
    struct sched_param param_square = {.sched_priority = 99 };
    struct sched_param param_irq = {.sched_priority = 98 };
    pthread_attr_t thattr_square, thattr_irq;

    period_ns = PERIOD; /* ns */

    signal(SIGINT, cleanup_upon_sig);
    signal(SIGTERM, cleanup_upon_sig);
    signal(SIGHUP, cleanup_upon_sig);
    signal(SIGALRM, cleanup_upon_sig);

    while (--ac) {
        if ((cp = *++av) == NULL)
            break;
        if (*cp == '-' && *++cp) {
            switch(*cp) {
            case 'p' :
                period_ns = (unsigned long)atoi(*++av);
                break;

            case 'r' :
                rtdm_driver = *++av;
                break;

            default:
                usage(progname);
                break;
            }
        }
        else
            break;
    }

    // Display every 2 sec
    loop_prt = 2000000000 / period_ns;

    printf ("Using driver \"%s\" and period %d ns\n", rtdm_driver, period_ns);

    // Avoid paging: MANDATORY for RT !!
    mlockall(MCL_CURRENT|MCL_FUTURE);

    // Init rt_printf() system
    rt_print_auto_init(1);

    // Open RTDM driver
    if ((fd = rt_dev_open(rtdm_driver, 0)) < 0) {
        perror("rt_open");
        exit(EXIT_FAILURE);
    }

    // Thread attributes
    pthread_attr_init(&thattr_square);

    // Joinable
    pthread_attr_setdetachstate(&thattr_square, PTHREAD_CREATE_JOINABLE);

    // Priority, set priority to 99
    pthread_attr_setinheritsched(&thattr_square, PTHREAD_EXPLICIT_SCHED);
    pthread_attr_setschedpolicy(&thattr_square, SCHED_FIFO);
    pthread_attr_setschedparam(&thattr_square, &param_square);

    // Create thread(s)
    err = pthread_create(&thid_square, &thattr_square, &thread_square, NULL);

    if (err)
    {
        fprintf(stderr,"square: failed to create square thread, code %d\n",err);
        return 0;
    }

    // Thread attributes
    pthread_attr_init(&thattr_irq);

    // Priority, set priority to 98
    pthread_attr_setinheritsched(&thattr_irq, PTHREAD_EXPLICIT_SCHED);
    pthread_attr_setschedpolicy(&thattr_irq, SCHED_FIFO);
    pthread_attr_setschedparam(&thattr_irq, &param_irq);

    err = pthread_create(&thid_irq, &thattr_irq, &thread_irq, NULL);

    if (err)
    {
        fprintf(stderr,"square: failed to create IRQ thread, code %d\n",err);
        return 0;
    }

    pause();

    return 0;
}

//.........这里部分代码省略.........
          nsh_release(bkgvtbl);
          goto errout;
        }

      /* Determine the priority to execute the command */

      if (vtbl->np.np_nice != 0)
        {
          int priority = param.sched_priority - vtbl->np.np_nice;
          if (vtbl->np.np_nice < 0)
            {
              int max_priority = sched_get_priority_max(SCHED_NSH);
              if (priority > max_priority)
                {
                  priority = max_priority;
                }
            }
          else
            {
              int min_priority = sched_get_priority_min(SCHED_NSH);
              if (priority < min_priority)
                {
                  priority = min_priority;
                }
            }

          param.sched_priority = priority;
        }

      /* Set up the thread attributes */

      (void)pthread_attr_init(&attr);
      (void)pthread_attr_setschedpolicy(&attr, SCHED_NSH);
      (void)pthread_attr_setschedparam(&attr, &param);

      /* Execute the command as a separate thread at the appropriate priority */

      ret = pthread_create(&thread, &attr, nsh_child, (pthread_addr_t)args);
      if (ret != 0)
        {
          nsh_output(vtbl, g_fmtcmdfailed, cmd, "pthread_create", NSH_ERRNO_OF(ret));
          nsh_releaseargs(args);
          nsh_release(bkgvtbl);
          goto errout;
        }

      nsh_output(vtbl, "%s [%d:%d]\n", cmd, thread, param.sched_priority);
    }
  else
#endif
    {
      uint8_t save[SAVE_SIZE];

      /* Handle redirection of output via a file descriptor */

      if (vtbl->np.np_redirect)
        {
          nsh_redirect(vtbl, fd, save);
        }

      /* Then execute the command in "foreground" -- i.e., while the user waits
       * for the next prompt.  nsh_execute will return:
       *
       * -1 (ERRROR) if the command was unsuccessful
       *  0 (OK)     if the command was successful
       */

PaError PaUnixThread_New( PaUnixThread* self, void* (*threadFunc)( void* ), void* threadArg, PaTime waitForChild,
                          int rtSched )
{
    PaError result = paNoError;
    pthread_attr_t attr;
    int started = 0;

    memset( self, 0, sizeof (PaUnixThread) );
    PaUnixMutex_Initialize( &self->mtx );
    PA_ASSERT_CALL( pthread_cond_init( &self->cond, NULL ), 0 );

    self->parentWaiting = 0 != waitForChild;

    /* Spawn thread */

    /* Temporarily disabled since we should test during configuration for presence of required mman.h header */
#if 0
#if defined _POSIX_MEMLOCK && (_POSIX_MEMLOCK != -1)
    if( rtSched )
    {
        if( mlockall( MCL_CURRENT | MCL_FUTURE ) < 0 )
        {
            int savedErrno = errno;             /* In case errno gets overwritten */
            assert( savedErrno != EINVAL );     /* Most likely a programmer error */
            PA_UNLESS( (savedErrno == EPERM), paInternalError );
            PA_DEBUG(( "%s: Failed locking memory\n", __FUNCTION__ ));
        }
        else
            PA_DEBUG(( "%s: Successfully locked memory\n", __FUNCTION__ ));
    }
#endif
#endif

    PA_UNLESS( !pthread_attr_init( &attr ), paInternalError );
    /* Priority relative to other processes */
    PA_UNLESS( !pthread_attr_setscope( &attr, PTHREAD_SCOPE_SYSTEM ), paInternalError );

    PA_UNLESS( !pthread_create( &self->thread, &attr, threadFunc, threadArg ), paInternalError );
    started = 1;

    if( rtSched )
    {
#if 0
        if( self->useWatchdog )
        {
            int err;
            struct sched_param wdSpm = { 0 };
            /* Launch watchdog, watchdog sets callback thread priority */
            int prio = PA_MIN( self->rtPrio + 4, sched_get_priority_max( SCHED_FIFO ) );
            wdSpm.sched_priority = prio;

            PA_UNLESS( !pthread_attr_init( &attr ), paInternalError );
            PA_UNLESS( !pthread_attr_setinheritsched( &attr, PTHREAD_EXPLICIT_SCHED ), paInternalError );
            PA_UNLESS( !pthread_attr_setscope( &attr, PTHREAD_SCOPE_SYSTEM ), paInternalError );
            PA_UNLESS( !pthread_attr_setschedpolicy( &attr, SCHED_FIFO ), paInternalError );
            PA_UNLESS( !pthread_attr_setschedparam( &attr, &wdSpm ), paInternalError );
            if( (err = pthread_create( &self->watchdogThread, &attr, &WatchdogFunc, self )) )
            {
                PA_UNLESS( err == EPERM, paInternalError );
                /* Permission error, go on without realtime privileges */
                PA_DEBUG(( "Failed bumping priority\n" ));
            }
            else
            {
                int policy;
                self->watchdogRunning = 1;
                PA_ENSURE_SYSTEM( pthread_getschedparam( self->watchdogThread, &policy, &wdSpm ), 0 );
                /* Check if priority is right, policy could potentially differ from SCHED_FIFO (but that's alright) */
                if( wdSpm.sched_priority != prio )
                {
                    PA_DEBUG(( "Watchdog priority not set correctly (%d)\n", wdSpm.sched_priority ));
                    PA_ENSURE( paInternalError );
                }
            }
        }
        else
#endif
            PA_ENSURE( BoostPriority( self ) );

        {
            int policy;
            struct sched_param spm;
            pthread_getschedparam(self->thread, &policy, &spm);
        }
    }

    if( self->parentWaiting )
    {
        PaTime till;
        struct timespec ts;
        int res = 0;
        PaTime now;

        PA_ENSURE( PaUnixMutex_Lock( &self->mtx ) );

        /* Wait for stream to be started */
        now = PaUtil_GetTime();
        till = now + waitForChild;

        while( self->parentWaiting && !res )
//.........这里部分代码省略.........

int soundio_os_thread_create(
        void (*run)(void *arg), void *arg,
        void (*emit_rtprio_warning)(void),
        struct SoundIoOsThread ** out_thread)
{
    *out_thread = NULL;

    struct SoundIoOsThread *thread = ALLOCATE(struct SoundIoOsThread, 1);
    if (!thread) {
        soundio_os_thread_destroy(thread);
        return SoundIoErrorNoMem;
    }

    thread->run = run;
    thread->arg = arg;

#if defined(SOUNDIO_OS_WINDOWS)
    thread->handle = CreateThread(NULL, 0, run_win32_thread, thread, 0, &thread->id);
    if (!thread->handle) {
        soundio_os_thread_destroy(thread);
        return SoundIoErrorSystemResources;
    }
    if (emit_rtprio_warning) {
        if (!SetThreadPriority(thread->handle, THREAD_PRIORITY_TIME_CRITICAL)) {
            emit_rtprio_warning();
        }
    }
#else
    int err;
    if ((err = pthread_attr_init(&thread->attr))) {
        soundio_os_thread_destroy(thread);
        return SoundIoErrorNoMem;
    }
    thread->attr_init = true;
    
    if (emit_rtprio_warning) {
        int max_priority = sched_get_priority_max(SCHED_FIFO);
        if (max_priority == -1) {
            soundio_os_thread_destroy(thread);
            return SoundIoErrorSystemResources;
        }

        if ((err = pthread_attr_setschedpolicy(&thread->attr, SCHED_FIFO))) {
            soundio_os_thread_destroy(thread);
            return SoundIoErrorSystemResources;
        }

        struct sched_param param;
        param.sched_priority = max_priority;
        if ((err = pthread_attr_setschedparam(&thread->attr, &param))) {
            soundio_os_thread_destroy(thread);
            return SoundIoErrorSystemResources;
        }

    }

    if ((err = pthread_create(&thread->id, &thread->attr, run_pthread, thread))) {
        if (err == EPERM && emit_rtprio_warning) {
            emit_rtprio_warning();
            err = pthread_create(&thread->id, NULL, run_pthread, thread);
        }
        if (err) {
            soundio_os_thread_destroy(thread);
            return SoundIoErrorNoMem;
        }
    }
    thread->running = true;
#endif

    *out_thread = thread;
    return 0;
}

//.........这里部分代码省略.........
		cleanup(EXIT_FAILURE);
	}

	/* Set the thread to be fifo real time scheduled */
	if(pthread_attr_setschedpolicy(&attr, SCHED_FIFO)) {
		ERR("Failed to set FIFO scheduling policy\n");
		cleanup(EXIT_FAILURE);
	}


	/* Create the capture fifos */
	captureEnv.to_video_c = Fifo_create(&fAttrs);
	captureEnv.from_video_c = Fifo_create(&fAttrs);
	captureEnv.to_resize_c = Fifo_create(&fAttrs);
	captureEnv.from_resize_c = Fifo_create(&fAttrs);

	if(captureEnv.to_video_c == NULL || captureEnv.from_video_c == NULL ||
	   captureEnv.to_resize_c == NULL || captureEnv.from_resize_c == NULL) {
		ERR("Failed to open display fifos\n");
		cleanup(EXIT_FAILURE);
	}

	LowRateResize.to_videoresize_c = Fifo_create(&fAttrs);
	LowRateResize.from_videoresize_c = Fifo_create(&fAttrs);

	if(LowRateResize.to_videoresize_c == NULL || LowRateResize.from_videoresize_c == NULL) {
		ERR("Failed to open Resize fifos\n");
		cleanup(EXIT_FAILURE);
	}

	/* Set the capture thread priority */
	schedParam.sched_priority = CAPTURE_THREAD_PRIORITY;

	if(pthread_attr_setschedparam(&attr, &schedParam)) {
		ERR("Failed to set scheduler parameters\n");
		cleanup(EXIT_FAILURE);
	}

	/* Create the capture thread */
	captureEnv.hRendezvousInit    = hRendezvousInit;
	captureEnv.hRendezvousCleanup = hRendezvousCleanup;
	DEBUG(DL_DEBUG, "captureThrFxn thread!!!!\n");


	if(pthread_create(&captureThread, &attr, captureThrFxn, &captureEnv)) {
		ERR("Failed to create capture thread\n");
		cleanup(EXIT_FAILURE);
	}

	/* Create the writer fifos */
	writerEnv.to_video_c = Fifo_create(&fAttrs);
	writerEnv.from_video_c = Fifo_create(&fAttrs);
	writerLowRateEnv.to_writelow_c = Fifo_create(&fAttrs);
	writerLowRateEnv.from_writelow_c = Fifo_create(&fAttrs);

	if(writerEnv.to_video_c == NULL || writerEnv.from_video_c == NULL ||
	   writerLowRateEnv.to_writelow_c == NULL || writerLowRateEnv.from_writelow_c == NULL) {
		ERR("Failed to open display fifos\n");
		cleanup(EXIT_FAILURE);
	}

	initMask |= CAPTURETHREADCREATED ;
	/*detect thread*/
	detectEnv.hRendezvousInit	  = hRendezvousInit;
	detectEnv.hRendezvousCleanup  = hRendezvousCleanup;

//.........这里部分代码省略.........

	if (stack_size < PTHREAD_STACK_MIN) {
		stack_size = PTHREAD_STACK_MIN;
	}

	rv = pthread_attr_setstacksize(&attr, PX4_STACK_ADJUSTED(stack_size));

	if (rv != 0) {
		PX4_ERR("pthread_attr_setstacksize to %d returned error (%d)", stack_size, rv);
		pthread_attr_destroy(&attr);
		free(taskdata);
		return (rv < 0) ? rv : -rv;
	}

#endif

	rv = pthread_attr_setinheritsched(&attr, PTHREAD_EXPLICIT_SCHED);

	if (rv != 0) {
		PX4_ERR("px4_task_spawn_cmd: failed to set inherit sched");
		pthread_attr_destroy(&attr);
		free(taskdata);
		return (rv < 0) ? rv : -rv;
	}

	rv = pthread_attr_setschedpolicy(&attr, scheduler);

	if (rv != 0) {
		PX4_ERR("px4_task_spawn_cmd: failed to set sched policy");
		pthread_attr_destroy(&attr);
		free(taskdata);
		return (rv < 0) ? rv : -rv;
	}

#ifdef __PX4_CYGWIN
	/* Priorities on Windows are defined a lot differently */
	priority = SCHED_PRIORITY_DEFAULT;
#endif

	param.sched_priority = priority;

	rv = pthread_attr_setschedparam(&attr, &param);

	if (rv != 0) {
		PX4_ERR("px4_task_spawn_cmd: failed to set sched param");
		pthread_attr_destroy(&attr);
		free(taskdata);
		return (rv < 0) ? rv : -rv;
	}

	pthread_mutex_lock(&task_mutex);

	px4_task_t taskid = 0;

	for (i = 0; i < PX4_MAX_TASKS; ++i) {
		if (!taskmap[i].isused) {
			taskmap[i].name = name;
			taskmap[i].isused = true;
			taskid = i;
			break;
		}
	}

	if (i >= PX4_MAX_TASKS) {
		pthread_attr_destroy(&attr);
		pthread_mutex_unlock(&task_mutex);
		free(taskdata);
		return -ENOSPC;
	}

	rv = pthread_create(&taskmap[taskid].pid, &attr, &entry_adapter, (void *) taskdata);

	if (rv != 0) {

		if (rv == EPERM) {
			//printf("WARNING: NOT RUNING AS ROOT, UNABLE TO RUN REALTIME THREADS\n");
			rv = pthread_create(&taskmap[taskid].pid, nullptr, &entry_adapter, (void *) taskdata);

			if (rv != 0) {
				PX4_ERR("px4_task_spawn_cmd: failed to create thread %d %d\n", rv, errno);
				taskmap[taskid].isused = false;
				pthread_attr_destroy(&attr);
				pthread_mutex_unlock(&task_mutex);
				free(taskdata);
				return (rv < 0) ? rv : -rv;
			}

		} else {
			pthread_attr_destroy(&attr);
			pthread_mutex_unlock(&task_mutex);
			free(taskdata);
			return (rv < 0) ? rv : -rv;
		}
	}

	pthread_attr_destroy(&attr);
	pthread_mutex_unlock(&task_mutex);

	return taskid;
}

void timedwait_test(void)
{
	pthread_t waiter;
	pthread_attr_t attr;
	struct sched_param sparam;
	void *result;
	int prio_max;
	int status;

	/* Initialize the mutex */

	printf("thread_waiter: Initializing mutex\n");
	status = pthread_mutex_init(&mutex, NULL);
	if (status != 0) {
		printf("timedwait_test: ERROR pthread_mutex_init failed, status=%d\n", status);
	}

	/* Initialize the condition variable */

	printf("timedwait_test: Initializing cond\n");
	status = pthread_cond_init(&cond, NULL);
	if (status != 0) {
		printf("timedwait_test: ERROR pthread_condinit failed, status=%d\n", status);
	}

	/* Start the waiter thread at higher priority */

	printf("timedwait_test: Starting waiter\n");
	status = pthread_attr_init(&attr);
	if (status != 0) {
		printf("timedwait_test: pthread_attr_init failed, status=%d\n", status);
	}

	prio_max = sched_get_priority_max(SCHED_FIFO);
	status = sched_getparam(getpid(), &sparam);
	if (status != 0) {
		printf("timedwait_test: sched_getparam failed\n");
		sparam.sched_priority = PTHREAD_DEFAULT_PRIORITY;
	}

	sparam.sched_priority = (prio_max + sparam.sched_priority) / 2;
	status = pthread_attr_setschedparam(&attr, &sparam);
	if (status != OK) {
		printf("timedwait_test: pthread_attr_setschedparam failed, status=%d\n", status);
	} else {
		printf("timedwait_test: Set thread 2 priority to %d\n", sparam.sched_priority);
	}

	status = pthread_create(&waiter, &attr, thread_waiter, NULL);
	if (status != 0) {
		printf("timedwait_test: pthread_create failed, status=%d\n", status);
	}

	printf("timedwait_test: Joining\n");
	FFLUSH();
	status = pthread_join(waiter, &result);
	if (status != 0) {
		printf("timedwait_test: ERROR pthread_join failed, status=%d\n", status);
	} else {
		printf("timedwait_test: waiter exited with result=%p\n", result);
	}
}

//.........这里部分代码省略.........
			logprintf(MLOG_FATAL, "Node has no name\n");
		if (!strcmp(node->name, "audio")) {
			audio = node;
			continue;
		}
		if (!strcmp(node->name, "ptt")) {
			ptt = node;
			continue;
		}
		if (!strcmp(node->name, "chaccess")) {
			getparam(doc, node, chaccparams, par);
			if (par[0])
				state->chacc.txdelay = strtoul(par[0], NULL, 0);
			if (par[1])
				state->chacc.slottime = strtoul(par[1], NULL, 0);
			if (par[2])
				state->chacc.ppersist = strtoul(par[2], NULL, 0);
			if (par[3])
				state->chacc.fullduplex = !!strtoul(par[3], NULL, 0);
			if (par[4])
				state->chacc.txtail = strtoul(par[4], NULL, 0);
			continue;
		}
		if (!strcmp(node->name, "channel")) {
			if (node->children)
				parsechannel(doc, node->children, state, &samplerate);
			continue;
		}
		logprintf(MLOG_ERROR, "unknown node \"%s\"\n", node->name);
	}
        /* find audio mode */
        mode = 0;
        for (chan = state->channels; chan; chan = chan->next) {
                if (chan->demod && chan->demod->demodulate)
                        mode |= IO_RDONLY;
                if (chan->mod && chan->mod->modulate)
                        mode |= IO_WRONLY;
        }
	if (!state->channels || !mode) {
		logprintf(MLOG_ERROR, "no channels configured\n");
		return -1;
	}
        /* open PTT */
	getparam(doc, ptt, pttparams, par);
	if (pttinit(&state->ptt, par))
                logprintf(MLOG_ERROR, "cannot start PTT output\n");
        /* open audio */
	getparam(doc, audio, ioparam_type, par);
	if (par[0] && !strcmp(par[0], ioparam_type[0].u.c.combostr[1])) {
		getparam(doc, audio, ioparams_filein, par);
		state->audioio = ioopen_filein(&samplerate, IO_RDONLY, par);
		if (schedrr)
			*schedrr = 0;
	} else if (par[0] && !strcmp(par[0], ioparam_type[0].u.c.combostr[2])) {
                getparam(doc, audio, ioparams_sim, par);
		state->audioio = ioopen_sim(&samplerate, IO_RDWR, par);
		if (schedrr)
			*schedrr = 0;
#ifdef HAVE_ALSA
	} else if (par[0] && !strcmp(par[0], ioparam_type[0].u.c.combostr[3])) {
                getparam(doc, audio, ioparams_alsasoundcard, par);
		state->audioio = ioopen_alsasoundcard(&samplerate, mode, par);
#endif /* HAVE_ALSA */
	} else {
		getparam(doc, audio, ioparams_soundcard, par);
		state->audioio = ioopen_soundcard(&samplerate, mode, par);
	}
	if (!state->audioio)
                logprintf(MLOG_FATAL, "cannot start audio\n");
	for (chan = state->channels; chan; chan = chan->next) {
		if (chan->demod) {
			chan->demod->init(chan->demodstate, samplerate, &chan->rxbitrate);
                        if (pthread_attr_init(&rxattr))
				logerr(MLOG_FATAL, "pthread_attr_init");
			/* needed on FreeBSD, according to [email protected] */
			if (pthread_attr_getstacksize(&rxattr, &stacksize))
				logerr(MLOG_ERROR, "pthread_attr_getstacksize");
			else if (stacksize < 256*1024)
				if (pthread_attr_setstacksize(&rxattr, 256*1024))
					logerr(MLOG_ERROR, "pthread_attr_setstacksize");
#ifdef HAVE_SCHED_H
                        if (schedrr && *schedrr) {
                                struct sched_param schp;
                                memset(&schp, 0, sizeof(schp));
                                schp.sched_priority = sched_get_priority_min(SCHED_RR)+1;
                                if (pthread_attr_setschedpolicy(&rxattr, SCHED_RR))
                                        logerr(MLOG_ERROR, "pthread_attr_setschedpolicy");
                                if (pthread_attr_setschedparam(&rxattr, &schp))
                                        logerr(MLOG_ERROR, "pthread_attr_setschedparam");
                        }
#endif /* HAVE_SCHED_H */
			if (pthread_create(&chan->rxthread, &rxattr, demodthread, chan))
				logerr(MLOG_FATAL, "pthread_create");
                        pthread_attr_destroy(&rxattr);
		}
		if (chan->mod)
			chan->mod->init(chan->modstate, samplerate);
	}
	return 0;
}

        int Start(bool realtime)
        {
            pthread_attr_t attributes;
            struct sched_param rt_param;
            pthread_attr_init(&attributes);
            
            int priority = 60; // TODO
            int res;
            
            if (realtime) {
                fRealTime = true;
            }else {
                fRealTime = getenv("OMP_REALTIME") ? strtol(getenv("OMP_REALTIME"), NULL, 10) : true;
            }
                                   
            if ((res = pthread_attr_setdetachstate(&attributes, PTHREAD_CREATE_JOINABLE))) {
                printf("Cannot request joinable thread creation for real-time thread res = %d err = %s\n", res, strerror(errno));
                return -1;
            }

            if ((res = pthread_attr_setscope(&attributes, PTHREAD_SCOPE_SYSTEM))) {
                printf("Cannot set scheduling scope for real-time thread res = %d err = %s\n", res, strerror(errno));
                return -1;
            }

            if (realtime) {
                
                if ((res = pthread_attr_setinheritsched(&attributes, PTHREAD_EXPLICIT_SCHED))) {
                    printf("Cannot request explicit scheduling for RT thread res = %d err = %s\n", res, strerror(errno));
                    return -1;
                }
            
                if ((res = pthread_attr_setschedpolicy(&attributes, JACK_SCHED_POLICY))) {
                    printf("Cannot set RR scheduling class for RT thread res = %d err = %s\n", res, strerror(errno));
                    return -1;
                }
                
                memset(&rt_param, 0, sizeof(rt_param));
                rt_param.sched_priority = priority;

                if ((res = pthread_attr_setschedparam(&attributes, &rt_param))) {
                    printf("Cannot set scheduling priority for RT thread res = %d err = %s\n", res, strerror(errno));
                    return -1;
                }

            } else {
                
                if ((res = pthread_attr_setinheritsched(&attributes, PTHREAD_INHERIT_SCHED))) {
                    printf("Cannot request explicit scheduling for RT thread res = %d err = %s\n", res, strerror(errno));
                    return -1;
                }
            }
         
            if ((res = pthread_attr_setstacksize(&attributes, THREAD_STACK))) {
                printf("Cannot set thread stack size res = %d err = %s\n", res, strerror(errno));
                return -1;
            }
            
            if ((res = pthread_create(&fThread, &attributes, ThreadHandler, this))) {
                printf("Cannot create thread res = %d err = %s\n", res, strerror(errno));
                return -1;
            }
            
            // Set affinity
            set_affinity(fThread, fNumThread + 1);

            pthread_attr_destroy(&attributes);
            return 0;
        }

//rtems_task Init(rtems_task_argument Argument)
void *POSIX_Init(void *argument)
{
    pthread_attr_t	threadAttr;
    pthread_t     	theThread;
    struct sched_param	sched_param;
    size_t		stack_size;
    int           	result;
    char		data[1000];
    

    memset(data, 1, sizeof(data));

    /* Set the TOD clock, so that gettimeofday() will work */
    rtems_time_of_day fakeTime = { 2006, 3, 15, 17, 30, 0, 0 };

    if (RTEMS_SUCCESSFUL != rtems_clock_set(&fakeTime))
    {
	assert(0);
    }	

    /* Bring up the network stack so we can run the socket tests. */
    initialize_network();

    /* Start a POSIX thread for pjlib_test_main(), since that's what it
     * thinks it is running in. 
     */

    /* Initialize attribute */
    TEST( pthread_attr_init(&threadAttr) );

    /* Looks like the rest of the attributes must be fully initialized too,
     * or otherwise pthread_create will return EINVAL.
     */

    /* Specify explicit scheduling request */
    TEST( pthread_attr_setinheritsched(&threadAttr, PTHREAD_EXPLICIT_SCHED));

    /* Timeslicing is needed by thread test, and this is accomplished by
     * SCHED_RR.
     */
    TEST( pthread_attr_setschedpolicy(&threadAttr, SCHED_RR));

    /* Set priority */
    TEST( pthread_attr_getschedparam(&threadAttr, &sched_param));
    sched_param.sched_priority = NETWORK_STACK_PRIORITY - 10;
    TEST( pthread_attr_setschedparam(&threadAttr, &sched_param));

    /* Must have sufficient stack size (large size is needed by
     * logger, because default settings for logger is to use message buffer
     * from the stack).
     */
    TEST( pthread_attr_getstacksize(&threadAttr, &stack_size));
    if (stack_size < 8192)
	TEST( pthread_attr_setstacksize(&threadAttr, 8192));


    /* Create the thread for application */
    result = pthread_create(&theThread, &threadAttr, &pjlib_test_main, NULL);
    if (result != 0) {
	my_perror(PJ_STATUS_FROM_OS(result), 
		  "Error creating pjlib_test_main thread");
	assert(!"Error creating main thread");
    } 

    return NULL;
}

/* globally initialze the runtime system
 * NOTE: this is NOT thread safe and must not be called concurrently. If that
 * ever poses a problem, we may use proper mutex calls - not considered needed yet.
 * If ppErrObj is provided, it receives a char pointer to the name of the object that
 * caused the problem (if one occured). The caller must never free this pointer. If
 * ppErrObj is NULL, no such information will be provided. pObjIF is the pointer to
 * the "obj" object interface, which may be used to query any other rsyslog objects.
 * rgerhards, 2008-04-16
 */
rsRetVal
rsrtInit(char **ppErrObj, obj_if_t *pObjIF)
{
	DEFiRet;

	if(iRefCount == 0) {
		/* init runtime only if not yet done */
#ifdef HAVE_PTHREAD_SETSCHEDPARAM
	    	CHKiRet(pthread_getschedparam(pthread_self(),
			    		      &default_thr_sched_policy,
					      &default_sched_param));
		CHKiRet(pthread_attr_init(&default_thread_attr));
		CHKiRet(pthread_attr_setschedpolicy(&default_thread_attr,
			    			    default_thr_sched_policy));
		CHKiRet(pthread_attr_setschedparam(&default_thread_attr,
			    			   &default_sched_param));
		CHKiRet(pthread_attr_setinheritsched(&default_thread_attr,
			    			     PTHREAD_EXPLICIT_SCHED));
#endif
		if(ppErrObj != NULL) *ppErrObj = "obj";
		CHKiRet(objClassInit(NULL)); /* *THIS* *MUST* always be the first class initilizer being called! */
		CHKiRet(objGetObjInterface(pObjIF)); /* this provides the root pointer for all other queries */

		/* initialize core classes. We must be very careful with the order of events. Some
		 * classes use others and if we do not initialize them in the right order, we may end
		 * up with an invalid call. The most important thing that can happen is that an error
		 * is detected and needs to be logged, wich in turn requires a broader number of classes
		 * to be available. The solution is that we take care in the order of calls AND use a
		 * class immediately after it is initialized. And, of course, we load those classes
		 * first that we use ourselfs... -- rgerhards, 2008-03-07
		 */
		if(ppErrObj != NULL) *ppErrObj = "statsobj";
		CHKiRet(statsobjClassInit(NULL));
		if(ppErrObj != NULL) *ppErrObj = "prop";
		CHKiRet(propClassInit(NULL));
		if(ppErrObj != NULL) *ppErrObj = "glbl";
		CHKiRet(glblClassInit(NULL));
		if(ppErrObj != NULL) *ppErrObj = "msg";
		CHKiRet(msgClassInit(NULL));
		if(ppErrObj != NULL) *ppErrObj = "ruleset";
		CHKiRet(rulesetClassInit(NULL));
		if(ppErrObj != NULL) *ppErrObj = "wti";
		CHKiRet(wtiClassInit(NULL));
		if(ppErrObj != NULL) *ppErrObj = "wtp";
		CHKiRet(wtpClassInit(NULL));
		if(ppErrObj != NULL) *ppErrObj = "queue";
		CHKiRet(qqueueClassInit(NULL));
		if(ppErrObj != NULL) *ppErrObj = "conf";
		CHKiRet(confClassInit(NULL));
		if(ppErrObj != NULL) *ppErrObj = "parser";
		CHKiRet(parserClassInit(NULL));
		if(ppErrObj != NULL) *ppErrObj = "strgen";
		CHKiRet(strgenClassInit(NULL));
		if(ppErrObj != NULL) *ppErrObj = "rsconf";
		CHKiRet(rsconfClassInit(NULL));

		/* dummy "classes" */
		if(ppErrObj != NULL) *ppErrObj = "str";
		CHKiRet(strInit());
	}

	++iRefCount;
	dbgprintf("rsyslog runtime initialized, version %s, current users %d\n", VERSION, iRefCount);

finalize_it:
	RETiRet;
}

void *POSIX_Init(
  void *argument
)
{
  int                 i;
  int                 status;
  pthread_t           threadId;
  pthread_attr_t      attr;
  struct sched_param  param;

  puts( "\n\n*** POSIX TIME TEST @[email protected] ***" );

  /*
   * Deliberately create the XXX BEFORE the threads.  This way the
   * threads should preempt this thread and block as they are created.
   */
  status = 0; /* XXX create resource */
  rtems_test_assert( status == 0 );

  /*
   * Obtain the XXX so the threads will block.
   */
  status = 0; /* XXX lock resource to ensure thread blocks */
  rtems_test_assert( status == 0 );

  /*
   * Now lower our priority
   */
  status = pthread_attr_init( &attr );
  rtems_test_assert( status == 0 );

  status = pthread_attr_setinheritsched( &attr, PTHREAD_EXPLICIT_SCHED );
  rtems_test_assert( status == 0 );

  status = pthread_attr_setschedpolicy( &attr, SCHED_RR );
  rtems_test_assert( status == 0 );

  param.sched_priority = 2;
  status = pthread_attr_setschedparam( &attr, &param );
  rtems_test_assert( status == 0 );

  /*
   * And create rest of threads as more important than we are.  They
   * will preempt us as they are created and block.
   */
  for ( i=0 ; i < OPERATION_COUNT ; i++ ) {

    param.sched_priority = 3 + i;
    status = pthread_attr_setschedparam( &attr, &param );
    rtems_test_assert( status == 0 );

    status = pthread_create(
      &threadId,
      &attr,
      (i == OPERATION_COUNT - 1) ? Low : Middle,
      NULL
    );
    rtems_test_assert( status == 0 );
  }

  /*
   * Now start the timer which will be stopped in Low
   */
  benchmark_timer_initialize();

    status = 0; /* XXX release the resource.  Threads unblock and preempt */
      /* thread switch occurs */

  /* should never return */
  rtems_test_assert( FALSE );
  return NULL;
}

px4_task_t px4_task_spawn_cmd(const char *name, int scheduler, int priority, int stack_size, px4_main_t entry, char * const argv[])
{
	int rv;
	int argc = 0;
	int i;
	unsigned int len = 0;
	unsigned long offset;
	unsigned long structsize;
	char * p = (char *)argv;

        pthread_t task;
	pthread_attr_t attr;
	struct sched_param param;

	// Calculate argc
	while (p != (char *)0) {
		p = argv[argc];
		if (p == (char *)0)
			break;
		++argc;
		len += strlen(p)+1;
	}
        structsize = sizeof(pthdata_t)+(argc+1)*sizeof(char *);
	pthdata_t *taskdata;
    
	// not safe to pass stack data to the thread creation
	taskdata = (pthdata_t *)malloc(structsize+len);
	offset = ((unsigned long)taskdata)+structsize;

    	taskdata->entry = entry;
	taskdata->argc = argc;

	for (i=0; i<argc; i++) {
		printf("arg %d %s\n", i, argv[i]);
		taskdata->argv[i] = (char *)offset;
		strcpy((char *)offset, argv[i]);
		offset+=strlen(argv[i])+1;
	}
	// Must add NULL at end of argv
	taskdata->argv[argc] = (char *)0;

	rv = pthread_attr_init(&attr);
	if (rv != 0) {
		PX4_WARN("px4_task_spawn_cmd: failed to init thread attrs");
		return (rv < 0) ? rv : -rv;
	}
	rv = pthread_attr_setinheritsched(&attr, PTHREAD_EXPLI