Jan Kiszka wrote:
Sean McGranaghan wrote:
Hello all,
I am posting this for a co-worker who is having problems with killing a
real-time task. (He is joining the email list shortly but for now I will pass
responses on to him.) Here is the scenario:
1. A Linux process starts up and detaches from the tty (daemon)
2. The daemon creates a xeno message queue
2. The daemon spawns a xeno task
3. The xeno task on startup binds to the queue rt_queue_bind()
4. The xeno task waits on the queue recv with infinite timeout
5. The daemon process goes to sleep in a join, waiting for the task to exit
6. Some time later another program starts
7. The other non-realtime program looks up the xeno task name via rt_task_bind()
8. The other non-realtime program attempts to delete the task via
rt_task_delete()
Failed Attempt #1 - Non-realtime program calls rt_task_delete() and gets
a segmentation fault
Failed Attempt #2 - Non-realtime program spawns a realtime task which
binds to original task and tries rt_task_delete().
Also gets segmentation fault.
The was attempted one a system running the latest Xenomai 2.1 release.
What is the preferred method to start/join threads from a non-realtime context?
Any help is appreciated.
rt_task_delete is not supposed to work across processes (Hmm, is this
detail documented somewhere?).
Nope, basically because I totally overlooked the issue... but we should
make this possible, since rt_task_suspend() is already system-scoped.
Ok, this one is on my todo list.
Use a normal Linux signal (e.g. SIGTERM) to terminate the daemon
process. For a clean termination, you should install a signal handler in
the daemon process which triggers an organised clean-up (all
RT-resources except tasks have to be released explicitly).
Jan
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Philippe.
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