int init_module(void) { pthread_attr_t attr; struct sched_param sched_param; rtf_destroy(0); rtf_destroy(1); rtf_destroy(2); rtf_destroy(3); rtf_destroy(4); rtf_create(0, 4000); //user-space interaction rtf_create(1, 4000); //channel from fifo handler //to thread 1 rtf_create(2, 4000); //channel from fifo handler //to thread 2 rtf_create(3, 4000); //fifo from thread 1 back //to user space rtf_create(4, 4000); //fifo from thread 2 back //to user space pthread_attr_init (&attr); sched_param.sched_priority = 4; pthread_attr_setschedparam (&attr, &sched_param); pthread_create (&tasks[0], &attr, thread_code, (void *)0); pthread_attr_init (&attr); sched_param.sched_priority = 4; pthread_attr_setschedparam (&attr, &sched_param); pthread_create (&tasks[1], &attr, thread_code, (void *)1); rtf_create_handler(0, &my_handler); return 0; }