POSIX port clean shutdown

Kernel
1

Hello,

I have noticed some unexpected behavior when running vTaskEndScheduler() with the FreeRTOS POSIX port. Programs that invoke vTaskStartScheduler() followed by vTaskEndScheduler() do not exit cleanly or at all.

I have created a program illustrating this behavior that I would like to be considered to add as a test case. Here is a link to the GitHub repository containing the test:

github. com/bdesterBE/freertos_posix_shutdown
(as a new user I cannot post links, but please just remove the space before ‘com’ in the link)

I also want to know if I should report this as a bug on GitHub tracker. I am currently looking into seeing if I can resolve the issue myself.

Please let me know if you have any information regarding this issue, including whether the test case is reflective of proper usage. If this is a valid test case, please let me know where it can be added to the FreeRTOS repository.

Thanks,
Brandon

2

This example code should include the following block after calling vTaskEndScheduler()

if( t1.joinable() )
{
    t1.join();
}

If t1 goes out of scope,~std::thread() will call std::terminate() if the thread is still joinable.

Besides that, I do not know whether the POSIX port specifies what threads not managed by the kernel can and cannot do. This may be a case of unspecified behavior in the POSIX port allowed by thread creation. The intention of vTaskEndScheduler() was to allow a FreeRTOS task to return control to the application as-if vTaskBeginScheduler() returned.