My
WebDMA project uses multithreading to run the web server on a background thread on the cRIO.
Look at the Task object for easy to use multithreading with objects. It uses the native vxWorks thread API to allow you to create multiple tasks and set their priorities and such.
If you're familiar with pthreads, vxWorks has a pthreads API that you can use, which is just a wrapper around the native API.
I used the multi-platform boost::thread library with WebDMA, which uses pthreads as the underlying native thread API. Some of my boost patches made it into 1.39, so you might not need to patch it anymore -- I haven't tried 1.39 yet.