Module: xenomai-forge
Branch: next
Commit: 58176a2862a0ab6292df3ad28fba8d0b84e93882
URL:
http://git.xenomai.org/?p=xenomai-forge.git;a=commit;h=58176a2862a0ab6292df3ad28fba8d0b84e93882
Author: Philippe Gerum <r...@xenomai.org>
Date: Sun May 5 16:55:13 2013 +0200
lib/alchemy: provide rt_task_join()
---
include/alchemy/task.h | 3 ++
lib/alchemy/task.c | 62 ++++++++++++++++++++++++++++++++++++++++++++----
2 files changed, 60 insertions(+), 5 deletions(-)
diff --git a/include/alchemy/task.h b/include/alchemy/task.h
index 0dd7d22..88162f1 100644
--- a/include/alchemy/task.h
+++ b/include/alchemy/task.h
@@ -43,6 +43,7 @@
struct RT_TASK {
uintptr_t handle;
+ pthread_t thread;
};
typedef struct RT_TASK RT_TASK;
@@ -111,6 +112,8 @@ int rt_task_shadow(RT_TASK *task,
int prio,
int mode);
+int rt_task_join(RT_TASK *task);
+
int rt_task_set_periodic(RT_TASK *task,
RTIME idate, RTIME period);
diff --git a/lib/alchemy/task.c b/lib/alchemy/task.c
index 8664efa..2f95d1a 100644
--- a/lib/alchemy/task.c
+++ b/lib/alchemy/task.c
@@ -369,6 +369,8 @@ int rt_task_create(RT_TASK *task, const char *name,
&tcb->thobj.tid));
if (ret)
delete_tcb(tcb);
+ else
+ task->thread = tcb->thobj.tid;
out:
COPPERPLATE_UNPROTECT(svc);
@@ -402,9 +404,6 @@ out:
*
* - Regular POSIX threads
* - Xenomai threads
- *
- * @note rt_task_delete() may block until the deleted task exits a
- * safe section, previously entered by a call to rt_task_safe().
*/
int rt_task_delete(RT_TASK *task)
{
@@ -428,7 +427,8 @@ int rt_task_delete(RT_TASK *task)
threadobj_lock(&tcb->thobj);
/*
* Prevent further reference to this zombie, including via
- * alchemy_task_current().
+ * alchemy_task_current(). Only rt_task_join() will be able to
+ * find it.
*/
threadobj_set_magic(&tcb->thobj, ~task_magic);
threadobj_unlock(&tcb->thobj);
@@ -463,6 +463,53 @@ out:
}
/**
+ * @fn int rt_task_join(RT_TASK *task)
+ * @brief Wait on the termination of a real-time task.
+ *
+ * This service blocks the caller in non-real-time context until @a
+ * task has terminated. All resources are released after successful
+ * completion of this service.
+ *
+ * The specified task must have been created by the same process that
+ * wants to join it, and the T_JOINABLE mode flag must have been set
+ * on creation to rt_task_create().
+ *
+ * Tasks created with the T_JOINABLE flag shall be joined by a
+ * subsequent call to rt_task_join() once successfully deleted, to
+ * reclaim all resources.
+ *
+ * @param task The descriptor address of the task to join.
+ *
+ * @return Zero is returned upon success. Otherwise:
+ *
+ * - -EINVAL is returned if @a task is not a valid task descriptor.
+ *
+ * - -EINVAL is returned if the task was not created with T_JOINABLE
+ * set or some other task is already waiting on the termination.
+ *
+ * - -EDEADLK is returned if @a task refers to the caller.
+ *
+ * - -ESRCH is returned if @a task no longer exists or refers to task
+ * created by a different process.
+ *
+ * Valid calling context:
+ *
+ * - Regular POSIX threads
+ * - Xenomai threads
+ *
+ * @note After successful completion of this service, it is neither
+ * required nor valid to additionally invoke rt_task_delete() on the
+ * same task.
+ */
+int rt_task_join(RT_TASK *task)
+{
+ if (bad_pointer(task))
+ return -EINVAL;
+
+ return -pthread_join(task->thread, NULL);
+}
+
+/**
* @fn int rt_task_set_affinity(RT_TASK *task, const cpu_set_t *cpus)
* @brief Set CPU affinity of real-time task.
*
@@ -635,6 +682,7 @@ int rt_task_shadow(RT_TASK *task, const char *name, int
prio, int mode)
struct threadobj *current = threadobj_current();
struct alchemy_task *tcb;
struct service svc;
+ pthread_t self;
int ret;
COPPERPLATE_PROTECT(svc);
@@ -661,7 +709,11 @@ int rt_task_shadow(RT_TASK *task, const char *name, int
prio, int mode)
goto out;
}
- ret = __bt(copperplate_renice_thread(pthread_self(), prio));
+ self = pthread_self();
+ if (task)
+ task->thread = self;
+
+ ret = __bt(copperplate_renice_thread(self, prio));
out:
COPPERPLATE_UNPROTECT(svc);
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