[Xenomai-help] rt_task_delete trouble

[Johann Obermayr <johann.obermayr@domain.hid>]

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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

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