AMiRo-OS

 *

 * @note    Only the control thread (detected by initial thread priority) may call this function.

  // only the control thread may call this function

  aosDbgAssert(chThdGetPriorityX() == AOS_THD_CTRLPRIO);

  // local variables

  tprio_t prio;

  thread_t* tp;

#if (AMIROOS_CFG_DBG == true)

  aos_timestamp_t tprint = 0;

  aos_timestamp_t tnow;

#endif /* (AMIROOS_CFG_DBG == true) */

#if (AMIROOS_CFG_DBG == true)

    aosSysGetUptime(&tnow);

    // print a message once per second

    if (tnow - tprint >= MICROSECONDS_PER_SECOND) {

      aosDbgPrintf("waiting for all threads to terminate...\n");

      tprint = tnow;

    }

#endif /* (AMIROOS_CFG_DBG == true) */

    // detect highest priority of all threads but the calling one

    prio = NOPRIO;

    chSysLock();

    tp = aosThreadGetFirst();

    while (tp) {

      // skip the calling thread

      if (tp != chThdGetSelfX()) {

#if (CH_CFG_USE_MUTEXES == TRUE)

        const tprio_t tprio = tp->realprio;

#else /* (CH_CFG_USE_MUTEXES == TRUE) */

        const tprio_t tprio = tp->prio;

#endif /* (CH_CFG_USE_MUTEXES == TRUE) */

        if (tprio > prio) {

          prio = tprio;

        }

      }

      tp = aosThreadGetNext(tp);

    }

    chSysUnlock();

    aosDbgAssert(prio <= chThdGetPriorityX());

    // lower calling thread priority as required or yield CPU to another thread with equal priority

    if (prio < chThdGetPriorityX()) {

      chThdSetPriority(prio);

    } else {

      chThdYield();

    }

  // restore priority

  chThdSetPriority(AOS_THD_CTRLPRIO);