text: /********************************************************************************
   * include/pthread.h
   *
   *   Copyright (C) 2007-2009, 2011-2012, 2015-2017, 2019 Gregory Nutt. All
   *     rights reserved.
   *   Author: Gregory Nutt <gnutt@nuttx.org>
   *
   * Redistribution and use in source and binary forms, with or without
   * modification, are permitted provided that the following conditions
   * are met:
   *
   * 1. Redistributions of source code must retain the above copyright
   *    notice, this list of conditions and the following disclaimer.
   * 2. Redistributions in binary form must reproduce the above copyright
   *    notice, this list of conditions and the following disclaimer in
   *    the documentation and/or other materials provided with the
   *    distribution.
   * 3. Neither the name NuttX nor the names of its contributors may be
   *    used to endorse or promote products derived from this software
   *    without specific prior written permission.
   *
   * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
   * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
   * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
   * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
   * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
   * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
   * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
   * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
   * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
   * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
   * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
   * POSSIBILITY OF SUCH DAMAGE.
   *
   ********************************************************************************/
  
  #ifndef __INCLUDE_PTHREAD_H
  #define __INCLUDE_PTHREAD_H
  
  /********************************************************************************
   * Included Files
   ********************************************************************************/
  
  #include <nuttx/config.h>    /* Default settings */
  #include <nuttx/compiler.h>  /* Compiler settings, noreturn_function */
  
  #include <sys/types.h>       /* Needed for general types */
  #include <sys/prctl.h>       /* Needed by pthread_[set|get]name_np */
  
  #include <stdint.h>          /* C99 fixed width integer types */
  #include <stdbool.h>         /* C99 boolean types */
  #include <unistd.h>          /* For getpid */
  #include <signal.h>          /* Needed for sigset_t, includes this file */
  #include <time.h>            /* Needed for struct timespec */
  
  #include <nuttx/semaphore.h> /* For sem_t and SEM_PRIO_* defines */
  
  #ifdef CONFIG_PTHREAD_SPINLOCKS
  /* The architecture specific spinlock.h header file must provide the
   * following:
   *
   *   SP_LOCKED   - A definition of the locked state value (usually 1)
   *   SP_UNLOCKED - A definition of the unlocked state value (usually 0)
   *   spinlock_t  - The type of a spinlock memory object.
   *
   * SP_LOCKED and SP_UNLOCKED must constants of type spinlock_t.
   */
  
  #  include <arch/spinlock.h>
  #endif
  
  /********************************************************************************
   * Pre-processor Definitions
   ********************************************************************************/
  
  /* Standard POSIX switches */
  
  #ifndef _POSIX_THREADS
  #  define _POSIX_THREADS
  #endif
  
  #ifndef _POSIX_THREAD_ATTR_STACKSIZE
  #  define _POSIX_THREAD_ATTR_STACKSIZE
  #endif
  
  /* Values for the process shared (pshared) attribute */
  
  #define PTHREAD_PROCESS_PRIVATE       0
  #define PTHREAD_PROCESS_SHARED        1
  
  /* Values for the mutext type attribute:
   *
   * PTHREAD_MUTEX_NORMAL: This type of mutex does not detect deadlock. A thread
   *   attempting to relock this mutex without first unlocking it will deadlock.
   *   Attempting to unlock a mutex locked by a different thread results in
   *   undefined behavior. Attempting to unlock an unlocked mutex results in
   *   undefined behavior.
   * PTHREAD_MUTEX_ERRORCHECK
   *   This type of mutex provides error checking. A thread attempting to relock
   *   this mutex without first unlocking it will return with an error. A thread
   *   attempting to unlock a mutex which another thread has locked will return
   *   with an error.   A thread attempting to unlock an unlocked mutex will return
   *   with an error.
   * PTHREAD_MUTEX_RECURSIVE
   *   A thread attempting to relock this mutex without first unlocking it will
   *   succeed in locking the mutex. The relocking deadlock which can occur with
   *   mutexes of type PTHREAD_MUTEX_NORMAL cannot occur with this type of mutex.
   *   Multiple locks of this mutex require the same number of unlocks to release
   *   the mutex before another thread can acquire the mutex. A thread attempting
   *   to unlock a mutex which another thread has locked will return with an error.
   *   A thread attempting to unlock an unlocked mutex will return with an error.
   * PTHREAD_MUTEX_DEFAULT
   *  An implementation is allowed to map this mutex to one of the other mutex
   *  types.
   */
  
  #define PTHREAD_MUTEX_NORMAL          0
  #define PTHREAD_MUTEX_ERRORCHECK      1
  #define PTHREAD_MUTEX_RECURSIVE       2
  #define PTHREAD_MUTEX_DEFAULT         PTHREAD_MUTEX_NORMAL
  
  /* Valid ranges for the pthread stacksize attribute */
  
  #define PTHREAD_STACK_MIN             CONFIG_PTHREAD_STACK_MIN
  #define PTHREAD_STACK_DEFAULT         CONFIG_PTHREAD_STACK_DEFAULT
  
  /* Values for the pthread inheritsched attribute */
  
  #define PTHREAD_INHERIT_SCHED         0
  #define PTHREAD_EXPLICIT_SCHED        1
  
  /* Default priority */
  
  #define PTHREAD_DEFAULT_PRIORITY      100
  
  /* Cancellation states used by pthread_setcancelstate() */
  
  #define PTHREAD_CANCEL_ENABLE         (0)
  #define PTHREAD_CANCEL_DISABLE        (1)
  
  /* Cancellation types used by pthread_setcanceltype() */
  
  #define PTHREAD_CANCEL_DEFERRED       (0)
  #define PTHREAD_CANCEL_ASYNCHRONOUS   (1)
  
  /* Thread return value when a pthread is canceled */
  
  #define PTHREAD_CANCELED              ((FAR void*)ERROR)
  
  /* Used to initialize a pthread_once_t */
  
  #define PTHREAD_ONCE_INIT             (false)
  
  /* This is returned by pthread_barrier_wait.  It must not match any errno
   * in errno.h
   */
  
  #define PTHREAD_BARRIER_SERIAL_THREAD 0x1000
  
  /* Values for protocol mutex attribute */
  
  #define PTHREAD_PRIO_NONE             SEM_PRIO_NONE
  #define PTHREAD_PRIO_INHERIT          SEM_PRIO_INHERIT
  #define PTHREAD_PRIO_PROTECT          SEM_PRIO_PROTECT
  
  /* Values for robust argument of pthread_mutexattr_get/setrobust
   *
   * PTHREAD_MUTEX_STALLED - No special actions are taken if the owner of the
   * mutex is terminated while holding the mutex lock. This can lead to
   * deadlocks if no other thread can unlock the mutex.  This is the standard
   * default value (NuttX permits you to override that default behavior
   * with a configuration option).
   *
   * PTHREAD_MUTEX_ROBUST - If the process containing the owning thread of a
   * robust mutex terminates while holding the mutex lock, the next thread
   * that acquires the mutex will be notified about the termination by the
   * return value EOWNERDEAD from the locking function. If the owning thread
   * of a robust mutex terminates while holding the mutex lock, the next
   * thread that attempts to acquire the mutex may be notified about the
   * termination by the return value EOWNERDEAD. The notified thread can
   * then attempt to make the state protected by the mutex consistent again,
   * and if successful can mark the mutex state as consistent by calling
   * pthread_mutex_consistent(). After a subsequent successful call to
   * pthread_mutex_unlock(), the mutex lock will be released and can be used
   * normally by other threads. If the mutex is unlocked without a call to
   * pthread_mutex_consistent(), it will be in a permanently unusable state
   * and all attempts to lock the mutex will fail with the error
   * ENOTRECOVERABLE. The only permissible operation on such a mutex is
   * pthread_mutex_destroy().
   */
  
  #define PTHREAD_MUTEX_STALLED         0
  #define PTHREAD_MUTEX_ROBUST          1
  
  /* Values for struct pthread_mutex_s flags.  These are non-standard and
   * intended only for internal use within the OS.
   */
  
  #define _PTHREAD_MFLAGS_ROBUST        (1 << 0) /* Robust (NORMAL) mutex */
  #define _PTHREAD_MFLAGS_INCONSISTENT  (1 << 1) /* Mutex is in an inconsistent state */
  #define _PTHREAD_MFLAGS_NRECOVERABLE  (1 << 2) /* Inconsistent mutex has been unlocked */
  
  /* Definitions to map some non-standard, BSD thread management interfaces to
   * the non-standard Linux-like prctl() interface.  Since these are simple
   * mappings to prctl, they will return 0 on success and -1 on failure with the
   * error number in errno.  This is an inconsistency with the pthread interfaces.
   */
  
  #define pthread_setname_np(thread, name) \
    prctl((int)PR_SET_NAME, (char*)name, (int)thread)
  
  #define pthread_getname_np(thread, name) \
    prctl((int)PR_GET_NAME, (char*)name, (int)thread)
  
  /********************************************************************************
   * Public Type Definitions
   ********************************************************************************/
  
  #ifdef __cplusplus
  extern "C"
  {
  #endif
  
  /* pthread-specific types */
  
  #ifndef __PTHREAD_KEY_T_DEFINED
  typedef int pthread_key_t;
  #define __PTHREAD_KEY_T_DEFINED 1
  #endif
  
  #ifndef __PTHREAD_ADDR_T_DEFINED
  typedef FAR void *pthread_addr_t;
  #define __PTHREAD_ADDR_T_DEFINED 1
  #endif
  
  typedef CODE pthread_addr_t (*pthread_startroutine_t)(pthread_addr_t);
  typedef pthread_startroutine_t pthread_func_t;
  
  struct pthread_attr_s
  {
    uint8_t priority;            /* Priority of the pthread */
    uint8_t policy;              /* Pthread scheduler policy */
    uint8_t inheritsched;        /* Inherit parent priority/policy? */
  
  #ifdef CONFIG_SCHED_SPORADIC
    uint8_t low_priority;        /* Low scheduling priority */
    uint8_t max_repl;            /* Maximum pending replenishments */
  #endif
  
  #ifdef CONFIG_SMP
    cpu_set_t affinity;          /* Set of permitted CPUs for the thread */
  #endif
  
    FAR void  *stackaddr;        /* Address of memory to be used as stack */
    size_t stacksize;            /* Size of the stack allocated for the pthread */
  
  #ifdef CONFIG_SCHED_SPORADIC
    struct timespec repl_period; /* Replenishment period */
    struct timespec budget;      /* Initial budget */
  #endif
  };
  
  #ifndef __PTHREAD_ATTR_T_DEFINED
  typedef struct pthread_attr_s pthread_attr_t;
  #define __PTHREAD_ATTR_T_DEFINED 1
  #endif
  
  #ifndef __PTHREAD_T_DEFINED
  typedef pid_t pthread_t;
  #define __PTHREAD_T_DEFINED 1
  #endif
  
  #ifndef __PTHREAD_CONDATTR_T_DEFINED
  typedef int pthread_condattr_t;
  #define __PTHREAD_CONDATTR_T_DEFINED 1
  #endif
  
  struct pthread_cond_s
  {
    sem_t sem;
  };
  
  #ifndef __PTHREAD_COND_T_DEFINED
  typedef struct pthread_cond_s pthread_cond_t;
  #define __PTHREAD_COND_T_DEFINED 1
  #endif
  
  #define PTHREAD_COND_INITIALIZER {SEM_INITIALIZER(0)}
  
  struct pthread_mutexattr_s
  {
    uint8_t pshared : 1;  /* PTHREAD_PROCESS_PRIVATE or PTHREAD_PROCESS_SHARED */
  #ifdef CONFIG_PRIORITY_INHERITANCE
    uint8_t proto   : 2;  /* See PTHREAD_PRIO_* definitions */
  #endif
  #ifdef CONFIG_PTHREAD_MUTEX_TYPES
    uint8_t type    : 2;  /* Type of the mutex.  See PTHREAD_MUTEX_* definitions */
  #endif
  #ifdef CONFIG_PTHREAD_MUTEX_BOTH
    uint8_t robust  : 1;  /* PTHREAD_MUTEX_STALLED or PTHREAD_MUTEX_ROBUST */
  #endif
  };
  
  #ifndef __PTHREAD_MUTEXATTR_T_DEFINED
  typedef struct pthread_mutexattr_s pthread_mutexattr_t;
  #define __PTHREAD_MUTEXATTR_T_DEFINED 1
  #endif
  
  struct pthread_mutex_s
  {
  #ifndef CONFIG_PTHREAD_MUTEX_UNSAFE
    /* Supports a singly linked list */
  
    FAR struct pthread_mutex_s *flink;
  #endif
  
    /* Payload */
  
    sem_t sem;        /* Semaphore underlying the implementation of the mutex */
    pid_t pid;        /* ID of the holder of the mutex */
  #ifndef CONFIG_PTHREAD_MUTEX_UNSAFE
    uint8_t flags;    /* See _PTHREAD_MFLAGS_* */
  #endif
  #ifdef CONFIG_PTHREAD_MUTEX_TYPES
    uint8_t type;     /* Type of the mutex.  See PTHREAD_MUTEX_* definitions */
    int16_t nlocks;   /* The number of recursive locks held */
  #endif
  };
  
  #ifndef __PTHREAD_MUTEX_T_DEFINED
  typedef struct pthread_mutex_s pthread_mutex_t;
  #define __PTHREAD_MUTEX_T_DEFINED 1
  #endif
  
  #ifndef CONFIG_PTHREAD_MUTEX_UNSAFE
  #  ifdef CONFIG_PTHREAD_MUTEX_DEFAULT_UNSAFE
  #    define __PTHREAD_MUTEX_DEFAULT_FLAGS 0
  #  else
  #    define __PTHREAD_MUTEX_DEFAULT_FLAGS _PTHREAD_MFLAGS_ROBUST
  #  endif
  #endif
  
  #if defined(CONFIG_PTHREAD_MUTEX_TYPES) && !defined(CONFIG_PTHREAD_MUTEX_UNSAFE)
  #  define PTHREAD_MUTEX_INITIALIZER {NULL, SEM_INITIALIZER(1), -1, \
                                       __PTHREAD_MUTEX_DEFAULT_FLAGS, \
                                       PTHREAD_MUTEX_DEFAULT, 0}
  #elif defined(CONFIG_PTHREAD_MUTEX_TYPES)
  #  define PTHREAD_MUTEX_INITIALIZER {SEM_INITIALIZER(1), -1, \
                                       PTHREAD_MUTEX_DEFAULT, 0}
  #elif !defined(CONFIG_PTHREAD_MUTEX_UNSAFE)
  #  define PTHREAD_MUTEX_INITIALIZER {NULL, SEM_INITIALIZER(1), -1,\
                                       __PTHREAD_MUTEX_DEFAULT_FLAGS}
  #else
  #  define PTHREAD_MUTEX_INITIALIZER {SEM_INITIALIZER(1), -1}
  #endif
  
  struct pthread_barrierattr_s
  {
    int pshared;
  };
  
  #ifndef __PTHREAD_BARRIERATTR_T_DEFINED
  typedef struct pthread_barrierattr_s pthread_barrierattr_t;
  #define __PTHREAD_BARRIERATTR_T_DEFINED 1
  #endif
  
  struct pthread_barrier_s
  {
    sem_t        sem;
    unsigned int count;
  };
  
  #ifndef __PTHREAD_BARRIER_T_DEFINED
  typedef struct pthread_barrier_s pthread_barrier_t;
  #define __PTHREAD_BARRIER_T_DEFINED 1
  #endif
  
  #ifndef __PTHREAD_ONCE_T_DEFINED
  typedef bool pthread_once_t;
  #define __PTHREAD_ONCE_T_DEFINED 1
  #endif
  
  struct pthread_rwlock_s
  {
    pthread_mutex_t lock;
    pthread_cond_t  cv;
    unsigned int num_readers;
    unsigned int num_writers;
    bool write_in_progress;
  };
  
  typedef struct pthread_rwlock_s pthread_rwlock_t;
  
  typedef int pthread_rwlockattr_t;
  
  #define PTHREAD_RWLOCK_INITIALIZER  {PTHREAD_MUTEX_INITIALIZER, \
                                       PTHREAD_COND_INITIALIZER, \
                                       0, 0, false}
  
  #ifdef CONFIG_PTHREAD_SPINLOCKS
  #ifndef __PTHREAD_SPINLOCK_T_DEFINED
  /* This (non-standard) structure represents a pthread spinlock */
  
  struct pthread_spinlock_s
  {
    volatile spinlock_t sp_lock;  /* Indicates if the spinlock is locked or
                                   * not.  See the values SP_LOCKED and
                                   * SP_UNLOCKED. */
    pthread_t sp_holder;          /* ID of the thread that holds the spinlock */
  };
  
  /* It is referenced via this standard type */
  
  typedef FAR struct pthread_spinlock_s pthread_spinlock_t;
  #define __PTHREAD_SPINLOCK_T_DEFINED 1
  #endif
  #endif /* CONFIG_PTHREAD_SPINLOCKS */
  
  #ifdef CONFIG_PTHREAD_CLEANUP
  /* This type describes the pthread cleanup callback (non-standard) */
  
  typedef CODE void (*pthread_cleanup_t)(FAR void *arg);
  #endif
  
  /* Forward references */
  
  struct sched_param; /* Defined in sched.h */
  
  /********************************************************************************
   * Public Function Prototypes
   ********************************************************************************/
  
  /* Initializes a thread attributes object (attr) with default values for all of
   * the individual attributes used by a given implementation.
   */
  
  int pthread_attr_init(FAR pthread_attr_t *attr);
  
  /* An attributes object can be deleted when it is no longer needed. */
  
  int pthread_attr_destroy(FAR pthread_attr_t *attr);
  
  /* Set or obtain the default scheduling algorithm */
  
  int pthread_attr_setschedpolicy(FAR pthread_attr_t *attr, int policy);
  int pthread_attr_getschedpolicy(FAR const pthread_attr_t *attr, FAR int *policy);
  int pthread_attr_setschedparam(FAR pthread_attr_t *attr,
                                 FAR const struct sched_param *param);
  int pthread_attr_getschedparam(FAR const pthread_attr_t *attr,
                                 FAR struct sched_param *param);
  int pthread_attr_setinheritsched(FAR pthread_attr_t *attr,
                                   int inheritsched);
  int pthread_attr_getinheritsched(FAR const pthread_attr_t *attr,
                                   FAR int *inheritsched);
  
  #ifdef CONFIG_SMP
  /* Set or obtain thread affinity attributes */
  
  int pthread_attr_setaffinity_np(FAR pthread_attr_t *attr,
                                  size_t cpusetsize,
                                  FAR const cpu_set_t *cpuset);
  int pthread_attr_getaffinity_np(FAR const pthread_attr_t *attr,
                                  size_t cpusetsize, cpu_set_t *cpuset);
  #endif
  
  /* Set or obtain the default stack size */
  
  int pthread_attr_setstacksize(FAR pthread_attr_t *attr, size_t stacksize);
  int pthread_attr_getstacksize(FAR const pthread_attr_t *attr,
                                FAR size_t *stackaddr);
  
  /* Set or obtain stack address and size attributes */
  
  int pthread_attr_setstack(FAR pthread_attr_t *attr,
                            FAR void *stackaddr, long stacksize);
  int pthread_attr_getstack(FAR pthread_attr_t *attr,
                            FAR void **stackaddr, FAR long *stacksize);
  
  /* Get run-time stack address and size */
  
  FAR void *pthread_get_stackaddr_np(pthread_t thread);
  ssize_t pthread_get_stacksize_np(pthread_t thread);
  
  /* To create a thread object and runnable thread, a routine must be specified
   * as the new thread's start routine.  An argument may be passed to this
   * routine, as an untyped address; an untyped address may also be returned as
   * the routine's value.  An attributes object may be used to specify details
   * about the kind of thread being created.
   */
  
  int pthread_create(FAR pthread_t *thread, FAR const pthread_attr_t *attr,
                     pthread_startroutine_t startroutine, pthread_addr_t arg);
  
  /* A thread object may be "detached" to specify that the return value and
   * completion status will not be requested.
   */
  
  int pthread_detach(pthread_t thread);
  
  /* A thread may terminate it's own execution or the execution of another
   * thread.
   */
  
  void pthread_exit(pthread_addr_t value) noreturn_function;
  int  pthread_cancel(pthread_t thread);
  int  pthread_setcancelstate(int state, FAR int *oldstate);
  int  pthread_setcanceltype(int type, FAR int *oldtype);
  void pthread_testcancel(void);
  
  /* A thread may set up cleanup functions to execute when the thread exits or
   * is canceled.
   */
  
  #ifdef CONFIG_PTHREAD_CLEANUP
  void pthread_cleanup_pop(int execute);
  void pthread_cleanup_push(pthread_cleanup_t routine, FAR void *arg);
  #endif
  
  /* A thread can await termination of another thread and retrieve the return
   * value of the thread.
   */
  
  int pthread_join(pthread_t thread, FAR pthread_addr_t *value);
  
  /* A thread may tell the scheduler that its processor can be made available. */
  
  void pthread_yield(void);
  
  /* A thread may obtain a copy of its own thread handle. */
  
  #define pthread_self() ((pthread_t)getpid())
  
  /* Compare two thread IDs. */
  
  #define pthread_equal(t1,t2) ((t1) == (t2))
  
  /* Thread scheduling parameters */
  
  int pthread_getschedparam(pthread_t thread, FAR int *policy,
                            FAR struct sched_param *param);
  int pthread_setschedparam(pthread_t thread, int policy,
                            FAR const struct sched_param *param);
  int pthread_setschedprio(pthread_t thread, int prio);
  
  #ifdef CONFIG_SMP
  /* Thread affinity */
  
  int pthread_setaffinity_np(pthread_t thread, size_t cpusetsize,
                             FAR const cpu_set_t *cpuset);
  int pthread_getaffinity_np(pthread_t thread, size_t cpusetsize,
                             FAR cpu_set_t *cpuset);
  #endif
  
  /* Thread-specific Data Interfaces */
  
  int pthread_key_create(FAR pthread_key_t *key,
                         CODE void (*destructor)(FAR void *));
  int pthread_setspecific(pthread_key_t key, FAR const void *value);
  FAR void *pthread_getspecific(pthread_key_t key);
  int pthread_key_delete(pthread_key_t key);
  
  /* Create, operate on, and destroy mutex attributes. */
  
  int pthread_mutexattr_init(FAR pthread_mutexattr_t *attr);
  int pthread_mutexattr_destroy(FAR pthread_mutexattr_t *attr);
  int pthread_mutexattr_getpshared(FAR const pthread_mutexattr_t *attr,
                                   FAR int *pshared);
  int pthread_mutexattr_setpshared(FAR pthread_mutexattr_t *attr,
                                   int pshared);
  int pthread_mutexattr_gettype(FAR const pthread_mutexattr_t *attr,
                                FAR int *type);
  int pthread_mutexattr_settype(FAR pthread_mutexattr_t *attr, int type);
  int pthread_mutexattr_getprotocol(FAR const pthread_mutexattr_t *attr,
                                    FAR int *protocol);
  int pthread_mutexattr_setprotocol(FAR pthread_mutexattr_t *attr,
                                    int protocol);
  int pthread_mutexattr_getrobust(FAR const pthread_mutexattr_t *attr,
                                  FAR int *robust);
  int pthread_mutexattr_setrobust(FAR pthread_mutexattr_t *attr,
                                  int robust);
  
  /* The following routines create, delete, lock and unlock mutexes. */
  
  int pthread_mutex_init(FAR pthread_mutex_t *mutex,
                         FAR const pthread_mutexattr_t *attr);
  int pthread_mutex_destroy(FAR pthread_mutex_t *mutex);
  int pthread_mutex_lock(FAR pthread_mutex_t *mutex);
  int pthread_mutex_timedlock(FAR pthread_mutex_t *mutex,
                              FAR const struct timespec *abs_timeout);
  int pthread_mutex_trylock(FAR pthread_mutex_t *mutex);
  int pthread_mutex_unlock(FAR pthread_mutex_t *mutex);
  
  #ifndef CONFIG_PTHREAD_MUTEX_UNSAFE
  /* Make sure that the pthread mutex is in a consistent state */
  
  int pthread_mutex_consistent(FAR pthread_mutex_t *mutex);
  #endif
  
  /* Operations on condition variables */
  
  int pthread_condattr_init(FAR pthread_condattr_t *attr);
  int pthread_condattr_destroy(FAR pthread_condattr_t *attr);
  
  /* A thread can create and delete condition variables. */
  
  int pthread_cond_init(FAR pthread_cond_t *cond,
                        FAR const pthread_condattr_t *attr);
  int pthread_cond_destroy(FAR pthread_cond_t *cond);
  
  /* A thread can signal to and broadcast on a condition variable. */
  
  int pthread_cond_broadcast(FAR pthread_cond_t *cond);
  int pthread_cond_signal(FAR pthread_cond_t *cond);
  
  /* A thread can wait for a condition variable to be signalled or broadcast. */
  
  int pthread_cond_wait(FAR pthread_cond_t *cond, FAR pthread_mutex_t *mutex);
  
  /* A thread can perform a timed wait on a condition variable. */
  
  int pthread_cond_timedwait(FAR pthread_cond_t *cond,
                             FAR pthread_mutex_t *mutex,
                             FAR const struct timespec *abstime);
  
  /* Barrier attributes */
  
  int pthread_barrierattr_destroy(FAR pthread_barrierattr_t *attr);
  int pthread_barrierattr_init(FAR pthread_barrierattr_t *attr);
  int pthread_barrierattr_getpshared(FAR const pthread_barrierattr_t *attr,
                                     FAR int *pshared);
  int pthread_barrierattr_setpshared(FAR pthread_barrierattr_t *attr,
                                     int pshared);
  
  /* Barriers */
  
  int pthread_barrier_destroy(FAR pthread_barrier_t *barrier);
  int pthread_barrier_init(FAR pthread_barrier_t *barrier,
                           FAR const pthread_barrierattr_t *attr,
                           unsigned int count);
  int pthread_barrier_wait(FAR pthread_barrier_t *barrier);
  
  /* Pthread initialization */
  
  int pthread_once(FAR pthread_once_t *once_control,
                   CODE void (*init_routine)(void));
  
  /* Pthread rwlock */
  
  int pthread_rwlock_destroy(FAR pthread_rwlock_t *rw_lock);
  int pthread_rwlock_init(FAR pthread_rwlock_t *rw_lock,
                          FAR const pthread_rwlockattr_t *attr);
  int pthread_rwlock_rdlock(pthread_rwlock_t *lock);
  int pthread_rwlock_timedrdlock(FAR pthread_rwlock_t *lock,
                                 FAR const struct timespec *abstime);
  int pthread_rwlock_tryrdlock(FAR pthread_rwlock_t *lock);
  int pthread_rwlock_wrlock(FAR pthread_rwlock_t *lock);
  int pthread_rwlock_timedwrlock(FAR pthread_rwlock_t *lock,
                                 FAR const struct timespec *abstime);
  int pthread_rwlock_trywrlock(FAR pthread_rwlock_t *lock);
  int pthread_rwlock_unlock(FAR pthread_rwlock_t *lock);
  
  /* Pthread signal management APIs */
  
  int pthread_kill(pthread_t thread, int sig);
  int pthread_sigmask(int how, FAR const sigset_t *set, FAR sigset_t *oset);
  
  #ifdef CONFIG_PTHREAD_SPINLOCKS
  /* Pthread spinlocks */
  
  int pthread_spin_init(FAR pthread_spinlock_t *lock, int pshared);
  int pthread_spin_destroy(FAR pthread_spinlock_t *lock);
  int pthread_spin_lock(FAR pthread_spinlock_t *lock);
  int pthread_spin_trylock(FAR pthread_spinlock_t *lock);
  int pthread_spin_unlock(FAR pthread_spinlock_t *lock);
  #endif
  
  #ifdef __cplusplus
  }
  #endif
  
  /********************************************************************************
   * Minimal Type Definitions
   ********************************************************************************/
  
  #else /* __INCLUDE_PTHREAD_H */
  
  /********************************************************************************
   * Included Files
   ********************************************************************************/
  
  #include <sys/types.h>
  #include <stdbool.h>
  
  /********************************************************************************
   * Public Type Definitions
   ********************************************************************************/
  
  /* Avoid circular dependencies by assuring that simple type definitions are
   * available in any inclusion ordering.
   */
  
  #ifndef __PTHREAD_KEY_T_DEFINED
  typedef int pthread_key_t;
  #  define __PTHREAD_KEY_T_DEFINED 1
  #endif
  
  #ifndef __PTHREAD_ADDR_T_DEFINED
  typedef FAR void *pthread_addr_t;
  #  define __PTHREAD_ADDR_T_DEFINED 1
  #endif
  
  #ifndef __PTHREAD_ATTR_T_DEFINED
  struct pthread_attr_s;
  typedef struct pthread_attr_s pthread_attr_t;
  #  define __PTHREAD_ATTR_T_DEFINED 1
  #endif
  
  #ifndef __PTHREAD_T_DEFINED
  typedef pid_t pthread_t;
  #  define __PTHREAD_T_DEFINED 1
  #endif
  
  #ifndef __PTHREAD_CONDATTR_T_DEFINED
  typedef int pthread_condattr_t;
  #  define __PTHREAD_CONDATTR_T_DEFINED 1
  #endif
  
  #ifndef __PTHREAD_COND_T_DEFINED
  struct pthread_cond_s;
  typedef struct pthread_cond_s pthread_cond_t;
  #  define __PTHREAD_COND_T_DEFINED 1
  #endif
  
  #ifndef __PTHREAD_MUTEXATTR_T_DEFINED
  struct pthread_mutexattr_s;
  typedef struct pthread_mutexattr_s pthread_mutexattr_t;
  #  define __PTHREAD_MUTEXATTR_T_DEFINED 1
  #endif
  
  #ifndef __PTHREAD_MUTEX_T_DEFINED
  struct pthread_mutex_s;
  typedef struct pthread_mutex_s pthread_mutex_t;
  #  define __PTHREAD_MUTEX_T_DEFINED 1
  #endif
  
  #ifndef __PTHREAD_BARRIERATTR_T_DEFINED
  struct pthread_barrierattr_s;
  typedef struct pthread_barrierattr_s pthread_barrierattr_t;
  #  define __PTHREAD_BARRIERATTR_T_DEFINED 1
  #endif
  
  #ifndef __PTHREAD_BARRIER_T_DEFINED
  struct pthread_barrier_s;
  typedef struct pthread_barrier_s pthread_barrier_t;
  #  define __PTHREAD_BARRIER_T_DEFINED 1
  #endif
  
  #ifdef CONFIG_PTHREAD_SPINLOCKS
  #ifndef __PTHREAD_SPINLOCK_T_DEFINED
  struct pthread_spinlock_s;
  typedef FAR struct pthread_spinlock_s pthread_spinlock_t;
  #define __PTHREAD_SPINLOCK_T_DEFINED 1
  #endif
  #endif /* CONFIG_PTHREAD_SPINLOCKS */
  
  #ifndef __PTHREAD_ONCE_T_DEFINED
  typedef bool pthread_once_t;
  #  define __PTHREAD_ONCE_T_DEFINED 1
  #endif
  
  #endif /* __INCLUDE_PTHREAD_H */
  