RTAPI_TASK_NEW

NAME
SYNTAX
ARGUMENTS
DESCRIPTION
REALTIME CONSIDERATIONS
RETURN VALUE
SEE ALSO

NAME

rtapi_task_new, rtapi_task_delete - create a realtime task

SYNTAX

int rtapi_task_new(void (*_taskcode_)(void*), void *_arg_, int _prio_,
unsigned long _stacksize_, int _uses_fp_);
int rtapi_task_delete(int _task_id_);

ARGUMENTS

taskcode

A pointer to the function to be called when the task is started

arg

An argument to be passed to the taskcode function when the task is started

prio

A task priority value returned by rtapi_prio_xxxx

uses_fp

A flag that tells the OS whether the task uses floating point or not.

task_id

A task ID returned by a previous call to rtapi_task_new

DESCRIPTION

rtapi_task_new creates but does not start a realtime task. The task is created in the "paused" state. To start it, call either rtapi_task_start for periodic tasks, or rtapi_task_resume for free-running tasks.

REALTIME CONSIDERATIONS

Call only from within init/cleanup code, not from realtime tasks.

RETURN VALUE

On success, returns a positive integer task ID. This ID is used for all subsequent calls that need to act on the task. On failure, returns an RTAPI status code.