pthread_attr_setschedparam创建线程优先级

int create_comm_thread(pthread_t *pth, void*(*func)(void *), void *arg,
		     int policy, int prio)
{
	int ret;
	struct sched_param schedp;
	pthread_attr_t attr;

	pthread_attr_init(&attr);
	memset(&schedp, 0, sizeof(schedp));

	ret = pthread_attr_setinheritsched(&attr, PTHREAD_EXPLICIT_SCHED);
	if (ret) {
		printf("pthread_attr_setinheritsched:%d\n", ret);
		return -1;
	}

	ret = pthread_attr_setschedpolicy(&attr, policy);
	if (ret) {
		printf("pthread_attr_setschedpolicy:%d\n", ret);
		return -1;
	}

	schedp.sched_priority = prio;
	ret = pthread_attr_setschedparam(&attr, &schedp);
	if (ret) {
		printf("pthread_attr_setschedparam:%d\n", ret);
		return -1;
	}

	ret = pthread_create(pth, &attr, func, arg);
	if (ret) {
		printf("pthread_create:%d\n", ret);
		return -1;
	}
	return 0;
}

创建线程优先级

{
		pthread_t blocker;
		pthread_attr_t attr1;
		int policy;
		pthread_attr_getschedpolicy( &attr1, &policy );
		switch ( policy )
		{
			case SCHED_FIFO:
			break;
			case SCHED_RR:
			break;
			case SCHED_OTHER:
			break;
			default:
				break;

		}
		//struct thread_arg blocker_arg = THREAD_ARG_INITIALIZER;
		
		create_comm_thread(&blocker, mav2_camera_thread_proc,
							 NULL, SCHED_RR, 99);

	}