Jeff Webb wrote:
> Jan Kiszka wrote:
> >> /* Shut down the real-time thread */
> >> pthread_cancel (fifotest_task);
> >> pthread_join (fifotest_task, NULL);
> >
> > pthread_join requires RT context and will not work as expected. But
> > that's unrelated to this problem.
>
> Okay. (I now see this restriction in the docs.) What is the proper way to
> do this cleanup from kernel-space with Xenomai? (Pardon my asking, as I
> haven't done much programming using POSIX threads. I believe this syntax
> was suggested, or at least acceptable, with RTLinux.)
Calling pthread_cancel then pthread_join from a module cleanup routine
should work. Because the cancelled thread preempts immediately the
module cleanup routine, so when pthread_join is called, the thread no
longer exists and there is no need to suspend the calling thread.
--
Gilles Chanteperdrix.
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