Hi to all,
I'm running Xenomai 2.5.5.2 IPipe 2.7-04 on kernel 2.6.35.7-x86.
I have a main real time task that creates a thread: this thread calls
rt_task_shadow() to turns itself into real-time task
I discovered this: if I exit from this task and then call rt_task_join() on it
from main task, rt_task_join() returns 0 instead -EINVAL as expected
(T_JOINABLE flag does not exist for rt_task_shadow() function). Is it correct a
behavior?
Here a simple code to explain it:
RT_TASK taskHandler;
pthread_t threadHandler;
char bContinue;
void task1 (void *arg)
{
while( bContinue )
{
rt_printf("running\n");
rt_task_sleep(500000000);
}
rt_printf("exit\n");
}
void * thread1 (void *arg)
{
int ret=0;
rt_printf("shadow:%d\n",(ret=rt_task_shadow(&taskHandler,"Task1",50,0)));
if(ret==0)
task1(NULL);
return NULL;
}
int main (int argc, char** argv)
{
mlockall ( MCL_CURRENT | MCL_FUTURE );
rt_print_auto_init(1);
rt_task_shadow(NULL,"Maintask",70,T_JOINABLE);
bContinue=1;
rt_printf("thread create:%d\n",pthread_create ( &threadHandler , NULL ,
thread1 , NULL ));
rt_task_sleep(2000000000ULL);
bContinue=0;
rt_printf("join:%d\n",rt_task_join(&taskHandler));
return 0;
}
Output is:
thread create:0
shadow:0
running
running
running
running
exit
join:0
I know that rt_task_shadow() wasn't made to create new tasks, it wants to be an
example code only.
Regards
Mauro
PS: I discovered this behavior because if I redo immediately pthread_create()
call after rt_task_join(), rt_task_shadow() returns -EEXIST (peraphs only if
main task has bigger priority than created task: if it has equal or smaller
priority, rt_task_shadow() call works fine. But this is another affair).
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