struct task_struct {
        volatile long state;    /* -1 unrunnable, 0 runnable, >0 stopped */
        void *stack;
        atomic_t usage;
        unsigned int flags;     /* per process flags, defined below */
        unsigned int ptrace;

#ifdef CONFIG_SMP
        struct llist_node wake_entry;
        int on_cpu;
        unsigned int wakee_flips;
        unsigned long wakee_flip_decay_ts;
        struct task_struct *last_wakee;

        int wake_cpu;
#endif
        ......
        ......
        pid_t pid;
        pid_t tgid;
        ......
        ......
}

进程pid: getpid()                 
线程tid: pthread_self()     //进程内唯一，但是在不同进程则不唯一。
线程pid: syscall(SYS_gettid)     //系统内是唯一的

#include <stdio.h>
#include <pthread.h>
#include <sys/types.h>
#include <sys/syscall.h>

struct message
{
    int i;
    int j;
};

void *hello(struct message *str)
{
    printf("child, the tid=%lu, pid=%d\n",pthread_self(),syscall(SYS_gettid));
    printf("the arg.i is %d, arg.j is %d\n",str->i,str->j);
    printf("child, getpid()=%d\n",getpid());
    while(1);
}

int main(int argc, char *argv[])
{
    struct message test;
    pthread_t thread_id;
    test.i=10;
    test.j=20;
    pthread_create(&thread_id,NULL,hello,&test);
    printf("parent, the tid=%lu, pid=%d\n",pthread_self(),syscall(SYS_gettid));
    printf("parent, getpid()=%d\n",getpid());
    pthread_join(thread_id,NULL);
    return 0;
}

#include <stdio.h>
#include <pthread.h>
#include <stdlib.h>
#include <unistd.h>
#include <sys/syscall.h>

void *thread_one()
{
    printf("thread_one:int %d main process, the tid=%lu,pid=%ld\n",getpid(),pthread_self(),syscall(SYS_gettid));
}

void *thread_two()
{
    printf("thread two:int %d main process, the tid=%lu,pid=%ld\n",getpid(),pthread_self(),syscall(SYS_gettid));
}

int main(int argc, char *argv[])
{
    pid_t pid;
    pthread_t tid_one,tid_two;
    if((pid=fork())==-1)
    {
        perror("fork");
        exit(EXIT_FAILURE);
    }
    else if(pid==0)
    {
        pthread_create(&tid_one,NULL,(void *)thread_one,NULL);
        pthread_join(tid_one,NULL);
    }
    else
    {
        pthread_create(&tid_two,NULL,(void *)thread_two,NULL);
        pthread_join(tid_two,NULL);
    }
    wait(NULL);
    return 0;
}

The four threads will have the same PID but only when viewed from above. What you (as a user) call a PID is not what the kernel (looking from below) calls a PID.
In the kernel, each thread has it‘s own ID, called a PID (although it would possibly make more sense to call this a TID, or thread ID) and they also have a TGID (thread group ID) which is the PID of the thread that started the whole process.
Simplistically, when a new process is created, it appears as a thread where both the PID and TGID are the same (new) number.
When a thread starts another thread, that started thread gets its own PID (so the scheduler can schedule it independently) but it inherits the TGID from the original thread.
That way, the kernel can happily schedule threads independent of what process they belong to, while processes (thread group IDs) are reported to you.

              USER VIEW
 <-- PID 43 --> <----------------- PID 42 ----------------->
                     +---------+
                     | process |
                    _| pid=42  |_
                  _/ | tgid=42 | \_ (new thread) _
       _ (fork) _/   +---------+                        /                                        +---------+
+---------+                                    | process |
| process |                                    | pid=44  |
| pid=43  |                                    | tgid=42 |
| tgid=43 |                                    +---------+
+---------+
 <-- PID 43 --> <--------- PID 42 --------> <--- PID 44 --->
                     KERNEL VIEW