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Delete kernel created task in vTaskEndScheduler (#962)

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* Update vTaskDelete() to delete a task directly when scheduler is stopped instead of putting it on the xTasksWaitingTermination list.
* Delete the idle tasks and timer task in vTaskEndScheduler().
* Reclaim resources for all the tasks on the xTasksWaitingTermination list in vTaskEndScheduler().
* Update POSIX to no longer delete FreeRTOS tasks in the port.

---------

Signed-off-by: Gaurav Aggarwal <aggarg@amazon.com>
Co-authored-by: Gaurav-Aggarwal-AWS <33462878+aggarg@users.noreply.github.com>
Co-authored-by: Gaurav Aggarwal <aggarg@amazon.com>
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chinglee-iot 2024-02-01 11:12:08 +08:00 • committed by GitHub
parent ba1e2dad3c
commit 1de764ba87
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2 changed files with 35 additions and 34 deletions
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30
tasks.c
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@ -2229,7 +2229,7 @@ static void prvInitialiseNewTask( TaskFunction_t pxTaskCode,
/* If the task is running (or yielding), we must add it to the
* termination list so that an idle task can delete it when it is
* no longer running. */
if( taskTASK_IS_RUNNING_OR_SCHEDULED_TO_YIELD( pxTCB ) != pdFALSE )
if( ( xSchedulerRunning != pdFALSE ) && ( taskTASK_IS_RUNNING_OR_SCHEDULED_TO_YIELD( pxTCB ) != pdFALSE ) )
{
/* A running task or a task which is scheduled to yield is being
* deleted. This cannot complete when the task is still running
@ -3740,11 +3740,39 @@ void vTaskEndScheduler( void )
{
traceENTER_vTaskEndScheduler();
#if ( INCLUDE_vTaskDelete == 1 )
{
BaseType_t xCoreID;
#if ( configUSE_TIMERS == 1 )
{
/* Delete the timer task created by the kernel. */
vTaskDelete( xTimerGetTimerDaemonTaskHandle() );
}
#endif /* #if ( configUSE_TIMERS == 1 ) */
/* Delete Idle tasks created by the kernel.*/
for( xCoreID = 0; xCoreID < ( BaseType_t ) configNUMBER_OF_CORES; xCoreID++ )
{
vTaskDelete( xIdleTaskHandles[ xCoreID ] );
}
/* Idle task is responsible for reclaiming the resources of the tasks in
* xTasksWaitingTermination list. Since the idle task is now deleted and
* no longer going to run, we need to reclaim resources of all the tasks
* in the xTasksWaitingTermination list. */
prvCheckTasksWaitingTermination();
}
#endif /* #if ( INCLUDE_vTaskDelete == 1 ) */
/* Stop the scheduler interrupts and call the portable scheduler end
* routine so the original ISRs can be restored if necessary. The port
* layer must ensure interrupts enable bit is left in the correct state. */
portDISABLE_INTERRUPTS();
xSchedulerRunning = pdFALSE;
/* This function must be called from a task and the application is
* responsible for deleting that task after the scheduler is stopped. */
vPortEndScheduler();
traceRETURN_vTaskEndScheduler();