add yhread file

DOLYDV1-1.0/use/main.cpp

@@ -1,24 +1,104 @@
+
 #include "main.h"
+#include <unistd.h>  
 // #include "init.h"
 #include "ServoMotor.h"
 #include "Gpio.h"
 #include <thread>
+#include <sched.h>
 #include "AppDoly.h"
 #include <iostream>
-/// <summary>
-/// This program demonstrates how to setup and control servos,
-/// Also this program requires pthread, ServoMotor, Gpio, Timer libraries
-/// ServoMotor, Gpio, Timer are part of Project Doly, libararies and headers are located under '/Doly'
-/// Do not forget to Copy and Link related libraries.
-/// </summary>
+#include <time.h>
+// 通过pthread实现多线程，未完善
+int Thread_Attr_Set( pthread_attr_t *attr, struct sched_param *sched );
+
+extern "C" void *hellothread(void *)
+{
+	// while(1)
+	// {
+
+		printf("helloworldgui\r\n");
+		// sleep(2);
+	// }
+
+}
 
 int main()
 {
+	int          creat_status = 0;
+	pthread_t    gui_thread;
+
+	pthread_attr_t          gui_thread_attr;
+
+	struct sched_param          gui_thread_sched;
+
+
+    // 实时线程，必须由 root 用户才能创建
+    if (0 != getuid())
+    {
+        printf("Please run as root \n");
+        exit(0);
+    }
 	// Setup Servo power control GPIO as output and set HIGH as a default value
 	// init_system();
+    gui_thread_sched.sched_priority = 55; 
+    /* set priority */
+    creat_status = Thread_Attr_Set(&gui_thread_attr, &gui_thread_sched);
+    /* create thread */
+    creat_status = pthread_create(&gui_thread, \
+                            &gui_thread_attr, \
+                            hellothread, \
+                            (void *)NULL);
+    if (creat_status != 0)
+    {
+        printf("Initial thread terminating with an error\n");
+        exit(EXIT_FAILURE);
+    }	
 	app_task();
 	// printf("input:%d" , GPIO::readPin(Touch_R_Input));
 
+	/**************************************************************************/
+	/* Thread exit                                                             */
+	/**************************************************************************/
 
+	pthread_join(gui_thread, 0);
+	/* Cancel thread */
+	pthread_cancel(gui_thread);
 	return 0;
-}
+}
+
+
+int Thread_Attr_Set( pthread_attr_t *attr, struct sched_param *sched )
+{
+    int iStatus = 0;
+    iStatus = pthread_attr_init( attr );
+    if( iStatus != 0 )
+    {
+        printf("[pthread_attr_init]failed.  Terminating with an error\n");
+        return -1;
+    }
+
+    iStatus = pthread_attr_setinheritsched( attr, (int)PTHREAD_EXPLICIT_SCHED );
+    if( iStatus != 0 )
+    {
+        printf("[pthread_attr_setinheritsched]failed.  Terminating with an error\n");
+        return -1;
+    }
+
+    iStatus = pthread_attr_setschedpolicy( attr, SCHED_FIFO );
+    if( iStatus != 0 )
+    {
+        printf("Thread Schedule Policy failed.  Terminating with an error\n");
+        return -1;
+    }
+
+    iStatus = pthread_attr_setschedparam( attr, sched );
+    if(iStatus != 0)
+    {
+        printf("[pthread_attr_setschedparam]failed.  Terminating with an error\n");
+        return -1;
+    }
+
+    return 0;
+}
+