static int module_delete(int module_id) {
module_data *module;
char name[RTAPI_NAME_LEN + 1];
int n;
rtapi_print_msg(RTAPI_MSG_DBG, "RTAPI:%d module %d exiting\n",
rtapi_instance, module_id);
/* validate module ID */
if ((module_id < 1) || (module_id > RTAPI_MAX_MODULES)) {
return -EINVAL;
}
/* point to the module's data */
module = &(module_array[module_id]);
/* check module status */
if (module->state != REALTIME) {
/* not an active realtime module */
return -EINVAL;
}
/* clean up any mess left behind by the module */
for (n = 1; n <= RTAPI_MAX_TASKS; n++) {
if ((task_array[n].state != EMPTY)
&& (task_array[n].owner == module_id)) {
rtapi_print_msg(RTAPI_MSG_WARN,
"RTAPI:%d WARNING: module '%s' failed to delete task %02d\n",
rtapi_instance, module->name, n);
task_array[n].state = DELETE_LOCKED;
_rtapi_task_delete(n);
}
}
for (n = 1; n <= RTAPI_MAX_SHMEMS; n++) {
if (rtapi_test_bit(module_id, shmem_array[n].bitmap)) {
rtapi_print_msg(RTAPI_MSG_WARN,
"RTAPI:%d WARNING: module '%s' failed to delete shmem %02d\n",
rtapi_instance, module->name, n);
// mark block as ready for delete, lock already held
shmem_array[n].magic = SHMEM_MAGIC_DEL_LOCKED;
_rtapi_shmem_delete(n, module_id);
}
}
rtapi_snprintf(name, RTAPI_NAME_LEN, "%s", module->name);
/* update module data */
module->state = NO_MODULE;
module->name[0] = '\0';
rtapi_data->rt_module_count--;
if (rtapi_data->rt_module_count == 0) {
if (rtapi_data->timer_running != 0) {
#ifdef HAVE_RTAPI_MODULE_TIMER_STOP
_rtapi_module_timer_stop();
#endif
rtapi_data->timer_period = 0;
timer_counts = 0;
max_delay = DEFAULT_MAX_DELAY;
rtapi_data->timer_running = 0;
}
}
rtapi_print_msg(RTAPI_MSG_DBG, "RTAPI:%d module %d exited, name: '%s'\n",
rtapi_instance, module_id, name);
return 0;
}
int _rtapi_task_delete(int task_id) {
task_data *task;
int retval = 0;
if(task_id < 0 || task_id >= RTAPI_MAX_TASKS) return -EINVAL;
task = &(task_array[task_id]);
/* validate task handle */
if (task->magic != TASK_MAGIC) // nothing to delete
return -EINVAL;
if (task->state != DELETE_LOCKED) // we don't already hold mutex
rtapi_mutex_get(&(rtapi_data->mutex));
#ifdef MODULE
if ((task->state == PERIODIC) || (task->state == FREERUN)) {
/* task is running, need to stop it */
rtapi_print_msg(RTAPI_MSG_WARN,
"RTAPI: WARNING: tried to delete task %02d while running\n",
task_id);
_rtapi_task_pause(task_id);
}
/* get rid of it */
rt_task_delete(ostask_array[task_id]);
/* free kernel memory */
kfree(ostask_array[task_id]);
/* update data */
task->prio = 0;
task->owner = 0;
task->taskcode = NULL;
ostask_array[task_id] = NULL;
rtapi_data->task_count--;
/* if no more tasks, stop the timer */
if (rtapi_data->task_count == 0) {
if (rtapi_data->timer_running != 0) {
# ifdef HAVE_RTAPI_MODULE_TIMER_STOP
_rtapi_module_timer_stop();
# endif
rtapi_data->timer_period = 0;
max_delay = DEFAULT_MAX_DELAY;
rtapi_data->timer_running = 0;
}
}
#endif /* MODULE */
#ifdef HAVE_RTAPI_TASK_DELETE_HOOK
retval = _rtapi_task_delete_hook(task,task_id);
#endif
if (task->state != DELETE_LOCKED) // we don't already hold mutex
rtapi_mutex_give(&(rtapi_data->mutex));
task->state = EMPTY;
task->magic = 0;
rtapi_print_msg(RTAPI_MSG_DBG, "rt_task_delete %d \"%s\"\n", task_id,
task->name );
return retval;
}
void cleanup_module(void) {
int n;
struct shm_status sm;
int retval;
if (rtapi_data == NULL) {
/* never got inited, nothing to do */
return;
}
#ifdef HAVE_RTAPI_MODULE_EXIT_HOOK
_rtapi_module_exit_hook();
#endif
/* grab the mutex */
rtapi_mutex_get(&(rtapi_data->mutex));
rtapi_print_msg(RTAPI_MSG_INFO, "RTAPI:%d exit\n", rtapi_instance);
/* clean up leftover modules (start at 1, we don't use ID 0 */
for (n = 1; n <= RTAPI_MAX_MODULES; n++) {
if (module_array[n].state == REALTIME) {
rtapi_print_msg(RTAPI_MSG_WARN,
"RTAPI: WARNING: module '%s' (ID: %02d) did not "
"call rtapi_exit()\n",
module_array[n].name, n);
module_delete(n);
}
}
/* cleaning up modules should clean up everything, if not there has
probably been an unrecoverable internal error.... */
for (n = 1; n <= RTAPI_MAX_SHMEMS; n++) {
if (shmem_array[n].rtusers > 0) {
rtapi_print_msg(RTAPI_MSG_ERR,
"RTAPI: ERROR: shared memory block %02d not deleted\n", n);
}
}
for (n = 1; n <= RTAPI_MAX_TASKS; n++) {
if (task_array[n].state != EMPTY) {
rtapi_print_msg(RTAPI_MSG_ERR,
"RTAPI: ERROR: task %02d not deleted\n", n);
/* probably un-recoverable, but try anyway */
_rtapi_task_pause(n);
/* rtapi_task_delete should not grab mutex */
task_array[n].state = DELETE_LOCKED;
_rtapi_task_delete(n);
}
}
if (rtapi_data->timer_running != 0) {
#ifdef HAVE_RTAPI_MODULE_TIMER_STOP
_rtapi_module_timer_stop();
#endif
rtapi_data->timer_period = 0;
timer_counts = 0;
rtapi_data->timer_running = 0;
max_delay = DEFAULT_MAX_DELAY;
}
rtapi_mutex_give(&(rtapi_data->mutex));
#ifdef CONFIG_PROC_FS
proc_clean();
#endif
sm.key = OS_KEY(RTAPI_KEY, rtapi_instance);
sm.size = sizeof(rtapi_data_t);
sm.flags = 0;
if ((retval = shmdrv_detach(&sm)) < 0) {
rtapi_print_msg(RTAPI_MSG_ERR,
"RTAPI:%d ERROR: detach rtapi returns %d\n",
rtapi_instance, retval);
}
rtapi_data = NULL;
global_data->rtapi_messages.refcount -= 1; // detach rtapi end
sm.key = OS_KEY(GLOBAL_KEY, rtapi_instance);
sm.size = sizeof(global_data_t);
sm.flags = 0;
if ((retval = shmdrv_detach(&sm)) < 0) {
rtapi_print_msg(RTAPI_MSG_ERR,
"RTAPI:%d ERROR: detach global returns %d\n",
rtapi_instance, retval);
}
global_data = NULL;
rtapi_print_msg(RTAPI_MSG_INFO, "RTAPI:%d Exit complete\n",
rtapi_instance);
return;
}