+ pthread_attr_t a;
+ pthread_attr_init(&a);
+ if (prio != -1)
+ {
+ sched_param sp;
+ sp.sched_priority = prio;
+ pthread_attr_setschedpolicy(&a, SCHED_L4);
+ pthread_attr_setschedparam(&a, &sp);
+ pthread_attr_setinheritsched(&a, PTHREAD_EXPLICIT_SCHED);
+ }
+ else
+ pthread_attr_setinheritsched(&a, PTHREAD_INHERIT_SCHED);