/*************************************************************************** *            thread.c * *  Mon May 21 18:08:29 2007 *  Copyright  2007  kf701 *  Email <kf701.ye AT gmail.com> ****************************************************************************//* *  This program is free software; you can redistribute it and/or modify *  it under the terms of the GNU General Public License as published by *  the Free Software Foundation; either version 2 of the License, or *  (at your option) any later version. * *  This program is distributed in the hope that it will be useful, *  but WITHOUT ANY WARRANTY; without even the implied warranty of *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the *  GNU General Public License for more details. * *  You should have received a copy of the GNU General Public License *  along with this program; if not, write to the Free Software *  Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. */ #include <pthread.h>#include "kf701.h"/** * @brief create a thread normal priority * * @param th_func thread main func * @param data delived to thread * * @retval false create faild * @retval true create ok */bool create_normal_thread(thread_entry_func th_func, void *data){	pthread_t threadid;	if( pthread_create(&threadid, NULL, th_func, data) )	{		sys_message("%s,%d: pthread_create error\n",__FILE__,__LINE__);		return false;	}	return true;}/** * @brief create a run-time thread, heigh priority * * @param th_func thread main func * @param data delived to thread * * @return false or true * */bool create_rr_thread(thread_entry_func th_func, void *data){	pthread_t threadid;		// thread identifiers	pthread_attr_t threadAttr1;	// thread attributes	struct sched_param param;	// scheduling priority	int policy = SCHED_RR;		// scheduling policy - real time	if( pthread_attr_init(&threadAttr1) )	{		sys_message("%s,%d: pthread_attr_init error\n",__FILE__,__LINE__);		return false;	}	if( pthread_attr_setdetachstate(&threadAttr1, PTHREAD_CREATE_DETACHED) )	{		sys_message("%s,%d: pthread_attr_setdetachstate error\n",__FILE__,__LINE__);		return false;	}	/* Set the policy of the thread to real time */	if ( pthread_attr_setschedpolicy(&threadAttr1, policy) )	{		sys_message("%s,%d: pthread_attr_setschedpolicy error\n",__FILE__,__LINE__);		return false;	}	/* Set the scheduling priority of the thread - max priority */	param.sched_priority = 90;	if( pthread_attr_setschedparam(&threadAttr1, &param) )	{		sys_message("%s,%d: pthread_attr_setschedparam error\n",__FILE__,__LINE__);		return false;	}	if( pthread_create(&threadid, &threadAttr1, th_func, data) )	{		sys_message("%s,%d: pthread_create error\n",__FILE__,__LINE__);		return false;	}	return true;}