QNX下如何编写具有实时性的多线程程序

本文介绍了如何在QNX实时操作系统下编写具有实时性的多线程程序。首先讲解了QNX下多线程编程的基本概念，然后介绍了QNX提供的多线程API和相关的实时特性。最后，通过一个简单的示例程序演示了如何在QNX下使用多线程实现具有实时性的任务调度。

#include <pthread.h>
#include <stdio.h>
#include <sys/neutrino.h>

void* thread1(void* arg)
{
    int priority = 10;
    ThreadCtl(_NTO_TCTL_IO, 0);
    int chid = ChannelCreate(0);
    struct _pulse pulse;
    struct sigevent event;
    event.sigev_notify = SIGEV_PULSE;
    event.sigev_coid = ConnectAttach(ND_LOCAL_NODE, 0, chid, _NTO_SIDE_CHANNEL, 0);
    event.sigev_priority = priority;
    event.sigev_code = 1;
    timer_t timerid;
    timer_create(CLOCK_REALTIME, &event, &timerid);
    struct itimerspec itime;
    itime.it_value.tv_sec = 0;
    itime.it_value.tv_nsec = 500000000;
    itime.it_interval.tv_sec = 0;
    itime.it_interval.tv_nsec = 500000000;
    timer_settime(timerid, 0, &itime, NULL);
    while(1)
    {
        MsgReceivePulse(chid, &pulse, sizeof(pulse), NULL);
        printf("Thread1: Received pulse signal\n");
    }
}

void* thread2(void* arg)
{
    int priority = 20;
    ThreadCtl(_NTO_TCTL_IO, 0);
    int chid = ChannelCreate(0);
    struct _pulse pulse;
    struct sigevent event;
    event.sigev_notify = SIGEV_PULSE;
    event.sigev_coid = ConnectAttach(ND_LOCAL_NODE, 0, chid, _NTO_SIDE_CHANNEL, 0);
    event.sigev_priority = priority;
    event.sigev_code = 1;
    timer_t timerid;
    timer_create(CLOCK_REALTIME, &event, &timerid);
    struct itimerspec itime;
    itime.it_value.tv_sec = 0;
    itime.it_value.tv_nsec = 100000000;
    itime.it_interval.tv_sec = 0;
    itime.it_interval.tv_nsec = 100000000;
    timer_settime(timerid, 0, &itime, NULL);
    while(1)
    {
        MsgReceivePulse(chid, &pulse, sizeof(pulse), NULL);
        printf("Thread2: Received pulse signal\n");
    }
}

int main()
{
    pthread_t tid1, tid2;
    pthread_create(&tid1, NULL, thread1, NULL);
    pthread_create(&tid2, NULL, thread2, NULL);
    pthread_join(tid1, NULL);
    pthread_join(tid2, NULL);
    return 0;
}

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