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linux - 如何检测函数的调用线程是否已经是 RTAI 实时的？

我正在做一个在内核和用户空间中都使用 RTAI 的大型项目。我不会详细介绍该项目，但这里简要介绍了出现问题的地方。

在用户空间，我的项目提供了一个库，供其他人用来编写一些软件。这些程序本身可能具有 RTAI 实时线程。

现在，RTAI 中的一些函数要求它们的调用线程已经ed，所以如果我想在库中的函数中使用它们，我需要通过调用和 laterrt_thread_init临时使调用线程实时。rt_thread_initrt_task_delete

现在问题来了：

如果我的函数的调用线程已经是实时的，那么我rt_thread_init假设它只是失败了，但是然后我rt_task_delete并使该线程成为非实时的（除了当线程本身（假设我什么都没改变）再次rt_task_delete，RTAI 崩溃。

如果我的函数的调用线程不是实时的，一切都很好。

现在，我在函数中采用了一个参数，以便调用函数告诉库它是否是实时的。但是，我想知道 RTAI 是否有功能或其他东西，以便我可以用来自动检测当前线程是否是实时的。

不知道这里有没有 RTAI 用户（我当然没看到 RTAI 标签），但希望有。

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c++ - Should I join a thread that has been killed?

I have many joinable threads that at some point need to all stop. The threads are pthread, but are created through RTAI's user-space interface (never mind the RTAI though).

For each thread I have a variable that I can set to tell them to quit. So what I do is:

  • set that variable for each thread so that they stop
  • Wait at most one second
  • join the threads

Now the thing is, since I am using RTAI, which uses a kernel-space buddy thread to the work for me, if something goes wrong, the thread may go unresponsive (It has never happened, but I have to be careful just in case something DOES go wrong). In such a case, I just kill the thread.

So, my question is, once you have a thread that is killed, should you join on it or not?


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