Hello,
i'm a newbie with xenomai.
My problem is, if a rt task will delete with rt_task_delete, than
the progam hangs.
here is my sample
----------------------------------
#include <stdio.h>
#include <signal.h>
#include <unistd.h>
#include <sys/mman.h>
#include <native/mutex.h>
#include <native/task.h>
#include <native/types.h>
#include <rtdk.h>
RT_TASK task_waiter, task_worker;
volatile int task_waiter_flag = 0;
#define DELAYS(x) (x * 1000 * 1000 * 1000)
#define DELAYMS(x) (x * 1000 * 1000)
void delaysec(unsigned int sec)
{
RTIME delay = DELAYS(sec);
rt_task_sleep( delay );
}
void task_waiter_do(void *data)
{
rt_printf("task_waiter_do started\n");
while(task_waiter_flag == 0)
; // rt_task_sleep( DELAYMS(1) );
rt_printf("task_waiter_do finished\n");
}
void task_worker_do(void *data)
{
int rval;
rt_printf("task_worker_do started\n");
delaysec(1);
rt_printf("task_worker_do suspend waiter\n");
rval = rt_task_suspend(&task_waiter);
rt_printf("task_worker_do suspend:%d\n", rval);
delaysec(1);
rt_printf("task_worker_do delete waiter\n");
rval = rt_task_delete(&task_waiter);
rt_printf("task_worker_do delete:%d\n", rval);
delaysec(1);
while(task_waiter_flag == 0)
rt_task_sleep( DELAYMS(10) );
rt_printf("task_worker_do finished\n");
}
int main(int argc, char **argv)
{
int rval;
mlockall(MCL_CURRENT|MCL_FUTURE);
printf("Starting\n");
rt_print_auto_init(1);
rval = rt_task_create(&task_worker, "worker", 0, 80, 0);
if (rval == 0) {
rval = rt_task_create(&task_waiter, "waiter", 0, 30, 0);
rval = rt_task_start(&task_worker, &task_worker_do, NULL);
if (rval == 0) {
rval = rt_task_start(&task_waiter, &task_waiter_do, NULL);
if (rval == 0) {
printf("Working\n");
}
else
rt_printf("rt_task_suspend failed(%d)", rval);
}
else
rt_printf("rt_task_start failed(%d)", rval);
}
else
rt_printf("rt_task_create failed(%d)", rval);
printf("Finsihed <press any key>\n");
getchar();
task_waiter_flag = 1;
usleep(100000);
return 0;
}
----------------------------------
the task task_worker_do will hang after rt_task_delete. Why ?
if i add a sleep into task_waiter_do, the sample work correct.
What can i do, to solve this.
Thanks
greetings
Johann
--
Mit freundlichen Grüßen, best regards
Johann Obermayr
Software Entwicklung
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