[Xenomai-help] turn an rt_task back to linux user space

[Xenomai-help] turn an rt_task back to linux user space

[Pedro Queiros]

Hi,
I would like to know if the is any way to turn a xenomai task, which
was shadowed from a linux thread with the rt_task_shadow(), back to
the linux user space (kill the rt_task and continue the linux thread
execution after that).
I tried the function rt_task_delete() but it ends the rt_task and
exits the linux thread without returning to Linux user space.

Regards,

Pedro Queirós
Institute of System and Robotics (ISR)
Department of Electrical and Computer Engineering
University of Coimbra, Portugal.

Re: [Xenomai-help] turn an rt_task back to linux user space

[Gilles Chanteperdrix]

Pedro Queiros wrote:
> Hi,
> I would like to know if the is any way to turn a xenomai task, which
> was shadowed from a linux thread with the rt_task_shadow(), back to
> the linux user space (kill the rt_task and continue the linux thread
> execution after that).
> I tried the function rt_task_delete() but it ends the rt_task and
> exits the linux thread without returning to Linux user space.

In theory, it would be possible, however it has not been implemented and
is not an easy task, and is not in an urgent position on the todo list.
So, in short, you will have to find another way (you can for instance,
pthread_create a new thread from the real-time task context, right
before it dies, the new thread doing the task you wanted to do after
killing it).

-- 
					    Gilles.

Re: [Xenomai-help] turn an rt_task back to linux user space

[Gilles Chanteperdrix]

Gilles Chanteperdrix wrote:
> Pedro Queiros wrote:
>> Hi,
>> I would like to know if the is any way to turn a xenomai task, which
>> was shadowed from a linux thread with the rt_task_shadow(), back to
>> the linux user space (kill the rt_task and continue the linux thread
>> execution after that).
>> I tried the function rt_task_delete() but it ends the rt_task and
>> exits the linux thread without returning to Linux user space.
> 
> In theory, it would be possible, however it has not been implemented and
> is not an easy task, and is not in an urgent position on the todo list.
> So, in short, you will have to find another way (you can for instance,
> pthread_create a new thread from the real-time task context, right
> before it dies, the new thread doing the task you wanted to do after
> killing it).

You can also set the priority of the rt task to 0, this will give it a
lower priority than any other real-time task, and may achieve what you
are looking for.

-- 
					    Gilles.