#include <rtl.h>#include <time.h>#include <pthread.h>static pthread_t thread;static pthread_mutex_t mutex /* = PTHREAD_MUTEX_INITIALIZER */;static pthread_cond_t cond;static int timed=1;MODULE_PARM(timed,"i");static void * start_routine(void *arg){	int ret;	hrtime_t t;	hrtime_t t2;	struct sched_param p;	p . sched_priority = 1;	pthread_setschedparam (pthread_self(), SCHED_FIFO, &p);	rtl_printf("RTLinux thread starts on CPU%d\n", rtl_getcpuid());	if (timed) {		rtl_printf("RT-thread: about to pthread_cond_timedwait\n");		t = clock_gethrtime(CLOCK_REALTIME);		pthread_mutex_lock (&mutex);		ret = pthread_cond_timedwait (&cond, &mutex, hrt2ts(t + 2000000));		pthread_mutex_unlock (&mutex);		t2 = clock_gethrtime(CLOCK_REALTIME);		rtl_printf("RT-thread: pthread_cond_timedwait returned %d (%d ns elapsed)\n", ret, (unsigned) (t2 - t));	}	rtl_printf("RT-thread: about to pthread_cond_wait\n");	t = clock_gethrtime(CLOCK_REALTIME);	pthread_mutex_lock (&mutex);	ret = pthread_cond_wait (&cond, &mutex);	pthread_mutex_unlock (&mutex);	t2 = clock_gethrtime(CLOCK_REALTIME);	rtl_printf("RT-thread: pthread_cond_wait returned %d (%d ns elapsed)\n", ret, (unsigned) (t2 - t));	return (void *) 35;}int init_module(void){	int ret;	hrtime_t t;	int sleep = 500000000;	pthread_attr_t attr;	rtl_printf("RTLinux condvar test starts on CPU%d\n", rtl_getcpuid());	pthread_attr_init (&attr);	/* try to run the thread on another CPU */	if (rtl_cpu_exists(!rtl_getcpuid())) {		pthread_attr_setcpu_np(&attr, !rtl_getcpuid());	}	pthread_mutex_init (&mutex, NULL);	pthread_cond_init (&cond, NULL);	ret = pthread_create (&thread, &attr, start_routine, 0);	if (ret) {		rtl_printf("failed to create a thread\n");		return ret;	}	rtl_printf("Linux thread is about to busy-wait for %d ns\n", sleep);	t = gethrtime();	while (gethrtime() < t + sleep);	rtl_printf("Linux thread is about to signal the condition\n");	pthread_mutex_lock (&mutex);	ret = pthread_cond_signal (&cond);	pthread_mutex_unlock (&mutex);	rtl_printf("Linux thread: pthread_cond_signal returned %d\n", ret);	return 0;}void cleanup_module(void){	void *retval;	pthread_cancel (thread);	pthread_join (thread, &retval);/* 	rtl_printf("RTLinux mutex: joined thread returned %d\n", (int) retval); */	pthread_mutex_destroy (&mutex);}