void
detach_os_thread(init_thread_data *scribble)
{
struct thread *th = arch_os_get_current_thread();
odxprint(misc, "detach_os_thread: detaching");
undo_init_new_thread(th, scribble);
odxprint(misc, "deattach_os_thread: detached");
pthread_setspecific(lisp_thread, (void *)0);
thread_sigmask(SIG_SETMASK, &scribble->oldset, 0);
free_thread_struct(th);
}
void rtapi_app_exit(void)
{
int retval;
hal_print_msg(RTAPI_MSG_DBG,
"HAL_LIB:%d removing RT support\n",rtapi_instance);
hal_proc_clean();
{
hal_thread_t *thread __attribute__((cleanup(halpr_autorelease_mutex)));
/* grab mutex before manipulating list */
rtapi_mutex_get(&(hal_data->mutex));
/* must remove all threads before unloading this module */
while (hal_data->thread_list_ptr != 0) {
/* point to a thread */
thread = SHMPTR(hal_data->thread_list_ptr);
/* unlink from list */
hal_data->thread_list_ptr = thread->next_ptr;
/* and delete it */
free_thread_struct(thread);
}
}
/* release RTAPI resources */
retval = rtapi_shmem_delete(lib_mem_id, lib_module_id);
if (retval) {
hal_print_msg(RTAPI_MSG_ERR,
"HAL_LIB:%d rtapi_shmem_delete(%d,%d) failed: %d\n",
rtapi_instance, lib_mem_id, lib_module_id, retval);
}
retval = rtapi_exit(lib_module_id);
if (retval) {
hal_print_msg(RTAPI_MSG_ERR,
"HAL_LIB:%d rtapi_exit(%d) failed: %d\n",
rtapi_instance, lib_module_id, retval);
}
/* done */
hal_print_msg(RTAPI_MSG_DBG,
"HAL_LIB:%d RT support removed successfully\n",
rtapi_instance);
}