WaitForSingleObject and WaitForMultipleObjects equivalent in Linux?

Stick to pthread_cond_timedwait and use clock_gettime. For example:

struct timespec ts;
clock_gettime(CLOCK_REALTIME, &ts);
ts.tv_sec += 10; // ten seconds
while (!some_condition && ret == 0)
    ret = pthread_cond_timedwait(&cond, &mutex, &ts);

Wrap it in a function if you wish.

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UPDATE: complementing the answer based on our comments.

POSIX doesn't have a single API to wait for "all types" of events/objects as Windows does. Each one has its own functions. The simplest way to notify a thread for termination is using atomic variables/operations. For example:

Main thread:

// Declare it globally (argh!) or pass by argument when the thread is created
atomic_t must_terminate = ATOMIC_INIT(0);

// "Signal" termination by changing the initial value
atomic_inc(&must_terminate); 

Secondary thread:

// While it holds the default value
while (atomic_read(&must_terminate) == 0) {
    // Keep it running...
}
// Do proper cleanup, if needed
// Call pthread_exit() providing the exit status

Another alternative is to send a cancellation request using pthread_cancel. The thread being cancelled must have called pthread_cleanup_push to register any necessary cleanup handler. These handlers are invoked in the reverse order they were registered. Never call pthread_exit from a cleanup handler, because it's undefined behaviour. The exit status of a cancelled thread is PTHREAD_CANCELED. If you opt for this alternative, I recommend you to read mainly about cancellation points and types.

And last but not least, calling pthread_join will make the current thread block until the thread passed by argument terminates. As bonus, you'll get the thread's exit status.

For what it's worth, we (NeoSmart Technologies) have just released an open source (MIT licensed) library called pevents which implements WIN32 manual and auto-reset events on POSIX, and includes both WaitForSingleObject and WaitForMultipleObjects clones.

Although I'd personally advise you to use POSIX multithreading and signaling paradigms when coding on POSIX machines, pevents gives you another choice if you need it.