Embedded Linux System Design and Development

Porting Applications 187

We define a new structure uarg_t that holds all the RTOS task entry

routine arguments, the pointer to the entry routine, and the priority of the task.

typedef struct _uarg_t {

rtosEntry_t entry_routine;

int priority;

char *arg1;

int arg2;

void *arg3;

}uarg_t;

For every call to rtosCreateTask a new thread of execution is created

by calling the

pthread_create function. The identifier of the created thread

is stored in the

tHandle->thread_id argument. The new thread executes

the

wrapper_routine function.

void wrapper_routine(void *arg){

uarg_t *uarg = (uarg_t *)arg;

nice(rtos_to_nice(uarg->priority));

uarg->entry_routine(uarg->arg1, uarg->arg2,

uarg->arg3);

}

In wrapper_routine, the priority of the thread is adjusted using ...