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fix(qurt): implement px4_task_join (#27886)

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This commit is contained in:
Eric Katzfey
2026-07-13 15:39:55 -07:00
committed by GitHub
parent fe71d3bec1
commit f9e927ff89
1 changed files with 34 additions and 0 deletions
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34
platforms/qurt/src/px4/tasks.cpp
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@@ -273,6 +273,40 @@ px4_task_t px4_task_spawn_cmd(const char *name, int scheduler, int priority, int
return px4_task_spawn_internal(name, priority, entry, argv);
}
int px4_task_join(px4_task_t id)
{
if (id < 0 || id >= PX4_MAX_TASKS) {
return -EINVAL;
}
if (!task_mutex_initialized) {
return -EINVAL;
}
pthread_mutex_lock(&task_mutex);
pthread_t pid = taskmap[id].tid;
pthread_mutex_unlock(&task_mutex);
if (pid == 0 || pthread_self() == pid) {
return -EINVAL;
}
int rv = pthread_join(pid, nullptr);
if (rv == 0) {
pthread_mutex_lock(&task_mutex);
if (taskmap[id].isused && taskmap[id].tid == pid) {
pthread_attr_destroy(&taskmap[id].attr);
taskmap[id].isused = false;
}
pthread_mutex_unlock(&task_mutex);
}
return rv;
}
int px4_task_delete(px4_task_t id)
{
int rv = 0;