rtapi_task_pause

NAME

rtapi_task_pause, rtapi_task_resume — pause and resume real-time tasks

SYNTAX

void rtapi_task_pause ( int task_id )

void rtapi_task_resume ( int task_id)

ARGUMENTS

task_id
An RTAPI task identifier returned by an earlier call to rtapi_task_new.

DESCRIPTION

rtapi_task_resume starts a task in free-running mode. The task must be in the "paused" state.

A free running task runs continuously until either:
1)
It is prempted by a higher priority task.
It will resume as soon as the higher priority task releases the CPU.

2)
It calls a blocking function, like rtapi_sem_take.
It will resume when the function unblocks.

3)
It is returned to the "paused" state by rtapi_task_pause.
May be called from init/cleanup code, and from within realtime tasks.

rtapi_task_pause causes a task to stop execution and change to the "paused" state.
The task can be free-running or periodic.
Note that rtapi_task_pause may called from any task, or from init or cleanup code, not just from the task that is to be paused.
The task will resume execution when either rtapi_task_resume or rtapi_task_start (depending on whether this is a free-running or periodic task) is called.

REALTIME CONSIDERATIONS

May be called from init/cleanup code, and from within realtime tasks.

RETURN VALUE

An RTAPI status code.

Machinekit