[Xenomai-help] Problems with rt_task_create and rt_task_join

[Michel Rinaldi <automation.03@domain.hid>]

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Hi to all, 

I'm running an application on a Linux system with kernel 2.6.35.7 patched with Xenomai 2.5.5.2, Adeos ipipe patch 2.7-04. 
My application uses native skin and creates some realtime tasks, each with rt_task_shadow(), each other with rt_task_create(). When I call for first time rt_task_create(), this function is very slow (700-800 ms) to execute, also if rt_task_shadow() calls come first. Subsequent calls of rt_task_create() are quick as expected. I read on manual that at first call rt_task_create() creates a signal handler for SIGWINCH signal: could be this operation that wastes time, maybe on waiting some resources from Linx kernel? 
Another problem that I've encountered is that if I call a rt_int_delete() and then a rt_task_join() on userspace task that handles destroyed IRQ, rt_task_join() never returns (obviously this task was created with joinable flag). If I create this task without joinable flag and then I call rt_task_delete() instead rt_task_join() I obtain two different behaviours: sometimes rt_task_delete() returns but I still view task on /proc/xenomai/sched (with X status), sometimes system freezes on this call. 
Thanks to all in advance. 
Regards 

Mauro Salvini 


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