原文:https://wiki.linuxfoundation.org/realtime/documentation/howto/applications/application_base
/*$gcc -o thisfile thisfile.c -lpthread -lrt -Wall
$sudo ./thisfile
*/
/*
* POSIX Real Time Example
* using a single pthread as RT thread
*/
#include <limits.h>
#include <pthread.h>
#include <sched.h>
#include <stdio.h>
#include <stdlib.h>
#include <sys/mman.h>
void *thread_func(void *data)
{
/* Do RT specific stuff here */
return NULL;
}
int main(int argc, char* argv[])
{
struct sched_param param;
pthread_attr_t attr;
pthread_t thread;
int ret;
/* Lock memory */
if(mlockall(MCL_CURRENT|MCL_FUTURE) == -1) {
printf("mlockall failed: %m\n");
exit(-2);
}
/* Initialize pthread attributes (default values) */
ret = pthread_attr_init(&attr);
if (ret) {
printf("init pthread attributes failed\n");
goto out;
}
/* Set a specific stack size */
ret = pthread_attr_setstacksize(&attr, PTHREAD_STACK_MIN);
if (ret) {
printf("pthread setstacksize failed\n");
goto out;
}
/* Set scheduler policy and priority of pthread */
ret = pthread_attr_setschedpolicy(&attr, SCHED_FIFO);
if (ret) {
printf("pthread setschedpolicy failed\n");
goto out;
}
param.sched_priority = 80;
ret = pthread_attr_setschedparam(&attr, ¶m);
if (ret) {
printf("pthread setschedparam failed\n");
goto out;
}
/* Use scheduling parameters of attr */
ret = pthread_attr_setinheritsched(&attr, PTHREAD_EXPLICIT_SCHED);
if (ret) {
printf("pthread setinheritsched failed\n");
goto out;
}
/* Create a pthread with specified attributes */
ret = pthread_create(&thread, &attr, thread_func, NULL);
if (ret) {
printf("create pthread failed\n");
goto out;
}
/* Join the thread and wait until it is done */
ret = pthread_join(thread, NULL);
if (ret)
printf("join pthread failed: %m\n");
out:
return ret;
}