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ethercat
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Fixed race concerning thread signaling when master thread had no 

opportunity to run, but shall be killed immediately.
This commit is contained in:
Florian Pose 2008-08-08 13:47:23 +00:00
parent 908624d4d8
commit 17352d9e3b
2 changed files with 15 additions and 1 deletions
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9
master/master.c
View File

@ -313,6 +313,7 @@ int ec_master_thread_start(
int (*thread_func)(ec_master_t *) /**< thread function to start */
)
{
init_completion(&master->thread_can_terminate);
init_completion(&master->thread_exit);
EC_INFO("Starting master thread.\n");
@ -341,11 +342,15 @@ void ec_master_thread_stop(
if (master->debug_level)
EC_DBG("Stopping master thread.\n");
// wait until thread is ready to receive the SIGTERM
wait_for_completion(&master->thread_can_terminate);
kill_proc(master->thread_id, SIGTERM, 1);
wait_for_completion(&master->thread_exit);
EC_INFO("Master thread exited.\n");
if (master->fsm_datagram.state != EC_DATAGRAM_SENT) return;
if (master->fsm_datagram.state != EC_DATAGRAM_SENT)
return;
// wait for FSM datagram
sleep_jiffies = max(HZ / 100, 1); // 10 ms, at least 1 jiffy
@ -822,6 +827,7 @@ static int ec_master_idle_thread(ec_master_t *master)
{
daemonize("EtherCAT-IDLE");
allow_signal(SIGTERM);
complete(&master->thread_can_terminate);
while (!signal_pending(current)) {
ec_datagram_output_stats(&master->fsm_datagram);
@ -869,6 +875,7 @@ static int ec_master_operation_thread(ec_master_t *master)
{
daemonize("EtherCAT-OP");
allow_signal(SIGTERM);
complete(&master->thread_can_terminate);
while (!signal_pending(current)) {
ec_datagram_output_stats(&master->fsm_datagram);

7
master/master.h
View File

@ -135,6 +135,13 @@ struct ec_master {
call to ecrt_master_receive(). */
int thread_id; /**< Master thread PID. */
struct completion thread_can_terminate; /**< Thread termination completion
object. When stopping the
thread, it must be assured, that
it 'hears' a SIGTERM, therefore
the allow_singal() function must
have been called.
*/
struct completion thread_exit; /**< Thread completion object. */
#ifdef EC_EOE