Create ptread_detach. (#11)

Create ptread_detach.

Author: joaovitorteixeira

FreeRTOS-Plus-POSIX/source/FreeRTOS_POSIX_pthread.c

@@ -475,6 +475,65 @@ int pthread_join( pthread_t pthread,
 
 /*-----------------------------------------------------------*/
 
+int pthread_detach(pthread_t pthread)
+{
+    int iStatus = 0;
+    pthread_internal_t * pxThread = ( pthread_internal_t * ) pthread;
+    eTaskState pThreadState;
+
+    /* Make sure pthread is joinable. */
+    if( !pthreadIS_JOINABLE( pxThread->xAttr.usSchedPriorityDetachState ) )
+    {
+        iStatus = EINVAL;
+    }
+
+    if ( iStatus == 0 )
+    {
+        /* Create a critical section to verify that pthread is joinable. */
+        vTaskSuspendAll();
+
+        pThreadState = eTaskGetState(pxThread->xTaskHandle);
+
+        /* Thread has been deleted or is invalid. */
+        if ( (pThreadState == eDeleted) || (pThreadState == eInvalid) )
+        {
+           iStatus = EINVAL;
+        }
+        else
+        {
+           /* Release xJoinBarrier and delete it. */
+            ( void ) xSemaphoreGive( ( SemaphoreHandle_t ) &pxThread->xJoinBarrier );
+            vSemaphoreDelete( ( SemaphoreHandle_t ) &pxThread->xJoinBarrier );
+
+            /* Release xJoinMutex and delete it. */
+            ( void ) xSemaphoreGive( ( SemaphoreHandle_t ) &pxThread->xJoinMutex );
+            vSemaphoreDelete( ( SemaphoreHandle_t ) &pxThread->xJoinMutex );
+
+            /* Thread has been finished */
+            if ( pThreadState == eSuspended )
+            {
+               /* Delete the FreeRTOS task that ran the thread. */
+               vTaskDelete( pxThread->xTaskHandle );
+
+               /* Free the thread object. */
+               vPortFree( pxThread );
+            }
+            else
+            {
+               /* Thread is in the running or ready state. */
+               pthread_attr_setdetachstate( (pthread_attr_t *) &pxThread->xAttr, PTHREAD_CREATE_DETACHED );
+            }
+        }
+
+        /* End the critical section. */
+        xTaskResumeAll();
+    }
+
+    return iStatus;
+}
+
+/*-----------------------------------------------------------*/
+
 pthread_t pthread_self( void )
 {
     /* Return a reference to this pthread object, which is stored in the

include/FreeRTOS_POSIX/pthread.h

@@ -362,6 +362,17 @@ int pthread_getschedparam( pthread_t thread,
 int pthread_join( pthread_t thread,
                   void ** retval );
 
+/**
+ * @brief  Marks the thread identified by thread as detached.
+ *
+ * @see https://pubs.opengroup.org/onlinepubs/009695399/functions/pthread_detach.html
+ *
+ * @retval 0 - Upon successful completion.
+ * @retval EINVAL - The implementation has detected that the value specified by thread does not refer
+ *                  to a joinable thread.
+ */
+int pthread_detach(pthread_t thread);
+
 /**
  * @brief Destroy a mutex.
  *