From 14f39129227574cbbff1152c3246fece02c68a2a Mon Sep 17 00:00:00 2001
From: David Chalco <david@chalco.io>
Date: Fri, 21 Feb 2020 18:59:26 +0000
Subject: [PATCH 1/7] handle pthread_join(null), implement pthread_cancel with
 tests

---
 .../FreeRTOSConfig.h                          |   2 +-
 .../source/FreeRTOS_POSIX_pthread.c           |  49 +++++-
 .../lib/include/FreeRTOS_POSIX/pthread.h      |  11 ++
 .../posix_demo.c                              | 139 ++++++++++++++++++
 .../posix_demo.h                              |   1 +
 5 files changed, 199 insertions(+), 3 deletions(-)

diff --git a/FreeRTOS-Plus/Demo/FreeRTOS_Plus_POSIX_with_actor_Windows_Simulator/FreeRTOSConfig.h b/FreeRTOS-Plus/Demo/FreeRTOS_Plus_POSIX_with_actor_Windows_Simulator/FreeRTOSConfig.h
index d511e69..e296388 100755
--- a/FreeRTOS-Plus/Demo/FreeRTOS_Plus_POSIX_with_actor_Windows_Simulator/FreeRTOSConfig.h
+++ b/FreeRTOS-Plus/Demo/FreeRTOS_Plus_POSIX_with_actor_Windows_Simulator/FreeRTOSConfig.h
@@ -46,7 +46,7 @@
 #define configTICK_RATE_HZ				( 1000 ) /* In this non-real time simulated environment the tick frequency has to be at least a multiple of the Win32 tick frequency, and therefore very slow. */
 #define configMINIMAL_STACK_SIZE		( ( unsigned short ) 60 ) /* In this simulated case, the stack only has to hold one small structure as the real stack is part of the Win32 thread. */
 #define configMAX_TASK_NAME_LEN			( 7 )
-#define configUSE_TRACE_FACILITY		0
+#define configUSE_TRACE_FACILITY		1
 #define configUSE_16_BIT_TICKS			0
 #define configIDLE_SHOULD_YIELD			1
 #define configUSE_CO_ROUTINES 			0
diff --git a/FreeRTOS-Plus/Demo/FreeRTOS_Plus_POSIX_with_actor_Windows_Simulator/lib/FreeRTOS-Plus-POSIX/source/FreeRTOS_POSIX_pthread.c b/FreeRTOS-Plus/Demo/FreeRTOS_Plus_POSIX_with_actor_Windows_Simulator/lib/FreeRTOS-Plus-POSIX/source/FreeRTOS_POSIX_pthread.c
index f34e9ec..317db5a 100755
--- a/FreeRTOS-Plus/Demo/FreeRTOS_Plus_POSIX_with_actor_Windows_Simulator/lib/FreeRTOS-Plus-POSIX/source/FreeRTOS_POSIX_pthread.c
+++ b/FreeRTOS-Plus/Demo/FreeRTOS_Plus_POSIX_with_actor_Windows_Simulator/lib/FreeRTOS-Plus-POSIX/source/FreeRTOS_POSIX_pthread.c
@@ -409,11 +409,19 @@ int pthread_join( pthread_t pthread,
     int iStatus = 0;
     pthread_internal_t * pxThread = ( pthread_internal_t * ) pthread;
 
+    if (pxThread == NULL) 
+    {
+        iStatus = ESRCH;
+    }
+
     /* Make sure pthread is joinable. Otherwise, this function would block
      * forever waiting for an unjoinable thread. */
-    if( !pthreadIS_JOINABLE( pxThread->xAttr.usSchedPriorityDetachState ) )
+    if (iStatus == 0)
     {
-        iStatus = EDEADLK;
+       if( !pthreadIS_JOINABLE(pxThread->xAttr.usSchedPriorityDetachState) )
+        {
+            iStatus = EDEADLK;
+        }
     }
 
     /* Only one thread may attempt to join another. Lock the join mutex
@@ -473,6 +481,43 @@ int pthread_join( pthread_t pthread,
     return iStatus;
 }
 
+/*-----------------------------------------------------------*/
+int pthread_cancel( pthread_t pthread )
+{
+    int iStatus = 0;
+    pthread_internal_t * pxThread = (pthread_internal_t *) pthread;
+    
+    if (pxThread == NULL || pxThread->xTaskHandle == NULL) 
+    {
+        iStatus = ESRCH;
+    } 
+
+    /* Threads may already be successfully ended elsewhere and pending full deletion in idle task. */
+    /* Note the the xJoinBarrier is a binary sem, so no new queue items are made once its already given */
+    if (iStatus == 0 && eDeleted != eTaskGetState(pxThread->xTaskHandle))
+    {
+        if (pxThread == pthread_self())
+        {
+            prvExitThread();
+        }
+        else
+        {
+            if (pthreadIS_JOINABLE(pxThread->xAttr.usSchedPriorityDetachState))
+            {
+                xSemaphoreGive((SemaphoreHandle_t)&pxThread->xJoinBarrier);
+                vTaskSuspend(pxThread->xTaskHandle);
+            }
+            else
+            {
+                vTaskDelete(pxThread->xTaskHandle);
+                vPortFree(pxThread);
+            }
+        }
+    }
+
+    return iStatus;
+}
+
 /*-----------------------------------------------------------*/
 
 pthread_t pthread_self( void )
diff --git a/FreeRTOS-Plus/Demo/FreeRTOS_Plus_POSIX_with_actor_Windows_Simulator/lib/include/FreeRTOS_POSIX/pthread.h b/FreeRTOS-Plus/Demo/FreeRTOS_Plus_POSIX_with_actor_Windows_Simulator/lib/include/FreeRTOS_POSIX/pthread.h
index 77f949a..ca503bb 100755
--- a/FreeRTOS-Plus/Demo/FreeRTOS_Plus_POSIX_with_actor_Windows_Simulator/lib/include/FreeRTOS_POSIX/pthread.h
+++ b/FreeRTOS-Plus/Demo/FreeRTOS_Plus_POSIX_with_actor_Windows_Simulator/lib/include/FreeRTOS_POSIX/pthread.h
@@ -233,6 +233,16 @@ int pthread_barrier_init( pthread_barrier_t * barrier,
  */
 int pthread_barrier_wait( pthread_barrier_t * barrier );
 
+/**
+* @brief Request cancellation of thread.
+* 
+* @see https://pubs.opengroup.org/onlinepubs/9699919799/functions/pthread_cancel.html
+* 
+* @retval 0 - Upon successful completion.
+* @retval ESRCH - Upon attempt to cancel null thread.
+*/
+int pthread_cancel( pthread_t thread );
+
 /**
  * @brief Thread creation.
  *
@@ -354,6 +364,7 @@ int pthread_getschedparam( pthread_t thread,
  *                   to a joinable thread OR multiple simultaneous calls to pthread_join()
  *                   specifying the same target thread OR the value specified by the thread argument
  *                   to pthread_join() refers to the calling thread.
+ * @retval ESRCH - Upon attempt to join null thread.
  */
 int pthread_join( pthread_t thread,
                   void ** retval );
diff --git a/FreeRTOS-Plus/Demo/FreeRTOS_Plus_POSIX_with_actor_Windows_Simulator/posix_demo.c b/FreeRTOS-Plus/Demo/FreeRTOS_Plus_POSIX_with_actor_Windows_Simulator/posix_demo.c
index 63560c7..e2eb3ce 100755
--- a/FreeRTOS-Plus/Demo/FreeRTOS_Plus_POSIX_with_actor_Windows_Simulator/posix_demo.c
+++ b/FreeRTOS-Plus/Demo/FreeRTOS_Plus_POSIX_with_actor_Windows_Simulator/posix_demo.c
@@ -69,6 +69,7 @@
 
 /* FreeRTOS includes. */
 #include "FreeRTOS_POSIX.h"
+#include "FreeRTOS.h"
 
 /* System headers. */
 #include <stdbool.h>
@@ -370,5 +371,143 @@ void vStartPOSIXDemo( void *pvParameters )
 
 	/* This task was created with the native xTaskCreate() API function, so
 	must not run off the end of its implementing thread. */
+    printf("\n------ SUMMARY ------\n");
+    static char status[40 * 100] = { 0 };
+    vTaskList(status);
+    printf(status);
+    printf("\n");
 	vTaskDelete( NULL );
 }
+
+
+/*-----------------------------------------------------------*/
+#define N_DUMMY_THREADS 10
+#define N_DUMMY_LOOPS   100
+
+static void * prvDummyThread(void* pvArgs)
+{
+    int id = (int)pvArgs;
+
+    struct timespec ts = {
+        .tv_sec = 1,
+        .tv_nsec = 0
+    };
+
+    for (int i = 0; i < N_DUMMY_LOOPS; i++)
+    {
+        printf("Thread[%02d] loop[%02d]\n", id, i);
+        nanosleep(&ts, NULL);
+    }
+
+    while (1);
+
+    return 0;
+}
+
+static void * prvSelfDestructThread(void* pvArgs)
+{
+    struct timespec ts = {
+        .tv_sec = 1,
+        .tv_nsec = 0
+    };
+
+    nanosleep(&ts, NULL);
+    configASSERT(0 == pthread_cancel(pthread_self()));
+
+    ts.tv_sec = 1;
+    while (1) {
+        nanosleep(&ts, NULL);
+    }
+}
+
+/*
+ * Create various joinable/detached threads and cancel/join them in various orders
+ */
+void vTestPthreadCancel(void* pvParameters)
+{
+    pthread_attr_t pattr;
+    struct sched_param sched_config;
+    pthread_t threads[N_DUMMY_THREADS] = { 0 };
+    pthread_attr_init(&pattr);
+
+    /* Want these tasks of equal priority so they can preempt eachother. The spawner task (THIS) will
+       exhaustively cancel all the threads with pthread_cancel */
+    sched_config.sched_priority = uxTaskPriorityGet(NULL);
+    pthread_attr_setschedparam(&pattr, &sched_config);
+    pthread_attr_setdetachstate(&pattr, PTHREAD_CREATE_JOINABLE);
+
+
+    printf("Creating %d threads looping %d times\n", N_DUMMY_THREADS, N_DUMMY_LOOPS);
+    /* The first half is default (joinable) the second half is detached*/
+    for (int i = 0; i < N_DUMMY_THREADS; i++)
+    {
+        if (i == (N_DUMMY_THREADS / 2))
+        {
+           pthread_attr_setdetachstate(&pattr, PTHREAD_CREATE_DETACHED);
+        }
+
+        pthread_create(&threads[i], &pattr, prvDummyThread, (void *)i);
+    }
+    
+    struct timespec ts = {
+        .tv_sec = 1,
+        .tv_nsec = 0
+    };
+
+    /*Let the test threads run for a bit, then exercise typical cancellation*/
+    for (int i=0; i < N_DUMMY_THREADS; i++)
+    {
+        nanosleep(&ts, NULL);
+
+        if (i < (N_DUMMY_THREADS / 2))
+        {
+            /* A cancelled joinable thread won't have relinquished its resources, but instead will suspend to joining */
+            configASSERT(0 == pthread_cancel(threads[i]));
+            configASSERT(0 == pthread_join(threads[i], NULL));
+        }
+        else
+        {
+            /* A detached thread will fully relinquish resources its responsible for */
+            configASSERT(0 == pthread_cancel(threads[i]));
+        }
+    }
+   
+    /* Excercise cancelling a NULL thread */
+    configASSERT(ESRCH == pthread_cancel(NULL));
+
+    /* Exercise a thread cancelling itself using pthread_cancel */
+    pthread_t self_desctructor = NULL;
+    /* detached thread */
+    pthread_attr_setdetachstate(&pattr, PTHREAD_CREATE_DETACHED);
+    pthread_create(&self_desctructor, &pattr, prvSelfDestructThread, NULL); 
+    /* joinable thread */
+    pthread_attr_setdetachstate(&pattr, PTHREAD_CREATE_JOINABLE);
+    pthread_create(&self_desctructor, &pattr, prvSelfDestructThread, NULL);
+    configASSERT(0 == pthread_join(self_desctructor, NULL));
+    
+    /* Excercise double cancellation of: */
+    pthread_t doubly_cancelled = NULL;
+    /* detached thread */
+    pthread_attr_setdetachstate(&pattr, PTHREAD_CREATE_DETACHED);
+    pthread_create(&doubly_cancelled, &pattr, prvDummyThread, NULL);
+    pthread_cancel(doubly_cancelled);
+    pthread_cancel(doubly_cancelled);
+
+    /* joinable thread */
+    pthread_attr_setdetachstate(&pattr, PTHREAD_CREATE_JOINABLE);
+    pthread_create(&doubly_cancelled, &pattr, prvDummyThread, NULL);
+    pthread_cancel(doubly_cancelled);
+    pthread_cancel(doubly_cancelled);
+    configASSERT(0 == pthread_join(doubly_cancelled, NULL));
+
+    /* All threads should be cancelled by now, leaving only this, main, idle, and timer tasks*/
+    printf("\n------ SUMMARY ------\n");
+    nanosleep(&ts, NULL);
+    static char status[40 * (N_DUMMY_THREADS + 5 + 3)] = { 0 };
+    vTaskList(status);
+    printf(status);
+    printf("\n");
+    vTaskDelete(NULL);
+}
+
+
diff --git a/FreeRTOS-Plus/Demo/FreeRTOS_Plus_POSIX_with_actor_Windows_Simulator/posix_demo.h b/FreeRTOS-Plus/Demo/FreeRTOS_Plus_POSIX_with_actor_Windows_Simulator/posix_demo.h
index 2088803..dcadf6e 100755
--- a/FreeRTOS-Plus/Demo/FreeRTOS_Plus_POSIX_with_actor_Windows_Simulator/posix_demo.h
+++ b/FreeRTOS-Plus/Demo/FreeRTOS_Plus_POSIX_with_actor_Windows_Simulator/posix_demo.h
@@ -28,5 +28,6 @@
 #ifndef _POSIX_DEMO_H_
 #define _POSIX_DEMO_H_
 void vStartPOSIXDemo( void * pvParameters );
+void vTestPthreadCancel(void* pvParameters);
 
 #endif /* _POSIX_DEMO_H_ */
\ No newline at end of file

From 3c90157d3792de01e275d0d0d16fad5fbb3e5873 Mon Sep 17 00:00:00 2001
From: David Chalco <david@chalco.io>
Date: Fri, 21 Feb 2020 11:18:34 -0800
Subject: [PATCH 2/7] uncrustify

---
 .../FreeRTOSConfig.h                          |  93 +++++------
 .../source/FreeRTOS_POSIX_pthread.c           |  28 ++--
 .../lib/include/FreeRTOS_POSIX/pthread.h      |  14 +-
 .../posix_demo.c                              | 155 +++++++++---------
 .../posix_demo.h                              |   4 +-
 5 files changed, 151 insertions(+), 143 deletions(-)
 mode change 100755 => 100644 FreeRTOS-Plus/Demo/FreeRTOS_Plus_POSIX_with_actor_Windows_Simulator/FreeRTOSConfig.h
 mode change 100755 => 100644 FreeRTOS-Plus/Demo/FreeRTOS_Plus_POSIX_with_actor_Windows_Simulator/lib/FreeRTOS-Plus-POSIX/source/FreeRTOS_POSIX_pthread.c
 mode change 100755 => 100644 FreeRTOS-Plus/Demo/FreeRTOS_Plus_POSIX_with_actor_Windows_Simulator/lib/include/FreeRTOS_POSIX/pthread.h
 mode change 100755 => 100644 FreeRTOS-Plus/Demo/FreeRTOS_Plus_POSIX_with_actor_Windows_Simulator/posix_demo.c
 mode change 100755 => 100644 FreeRTOS-Plus/Demo/FreeRTOS_Plus_POSIX_with_actor_Windows_Simulator/posix_demo.h

diff --git a/FreeRTOS-Plus/Demo/FreeRTOS_Plus_POSIX_with_actor_Windows_Simulator/FreeRTOSConfig.h b/FreeRTOS-Plus/Demo/FreeRTOS_Plus_POSIX_with_actor_Windows_Simulator/FreeRTOSConfig.h
old mode 100755
new mode 100644
index e296388..4360e9f
--- a/FreeRTOS-Plus/Demo/FreeRTOS_Plus_POSIX_with_actor_Windows_Simulator/FreeRTOSConfig.h
+++ b/FreeRTOS-Plus/Demo/FreeRTOS_Plus_POSIX_with_actor_Windows_Simulator/FreeRTOSConfig.h
@@ -32,50 +32,50 @@
 #include <stdint.h>
 
 /*-----------------------------------------------------------
- * Application specific definitions.
- *
- * These definitions should be adjusted for your particular hardware and
- * application requirements.
- *
- * THESE PARAMETERS ARE DESCRIBED WITHIN THE 'CONFIGURATION' SECTION OF THE
- * FreeRTOS API DOCUMENTATION AVAILABLE ON THE FreeRTOS.org WEB SITE.
- * http://www.freertos.org/a00110.html
- *----------------------------------------------------------*/
-
-#define configUSE_PREEMPTION			1
-#define configTICK_RATE_HZ				( 1000 ) /* In this non-real time simulated environment the tick frequency has to be at least a multiple of the Win32 tick frequency, and therefore very slow. */
-#define configMINIMAL_STACK_SIZE		( ( unsigned short ) 60 ) /* In this simulated case, the stack only has to hold one small structure as the real stack is part of the Win32 thread. */
-#define configMAX_TASK_NAME_LEN			( 7 )
-#define configUSE_TRACE_FACILITY		1
-#define configUSE_16_BIT_TICKS			0
-#define configIDLE_SHOULD_YIELD			1
-#define configUSE_CO_ROUTINES 			0
-#define configUSE_MUTEXES				1
-#define configCHECK_FOR_STACK_OVERFLOW	0 /* Not applicable to the Win32 port. */
-#define configUSE_RECURSIVE_MUTEXES		1
-#define configQUEUE_REGISTRY_SIZE		0
-#define configUSE_APPLICATION_TASK_TAG	1
-#define configUSE_COUNTING_SEMAPHORES	1
-#define configUSE_ALTERNATIVE_API		0
-
-#define configUSE_TIMERS				1
-#define configTIMER_TASK_PRIORITY		2
-#define configTIMER_QUEUE_LENGTH		20
-#define configTIMER_TASK_STACK_DEPTH	( configMINIMAL_STACK_SIZE * 2 )
-
-#define configMAX_PRIORITIES			( 7 )
-#define configMAX_CO_ROUTINE_PRIORITIES ( 2 )
+* Application specific definitions.
+*
+* These definitions should be adjusted for your particular hardware and
+* application requirements.
+*
+* THESE PARAMETERS ARE DESCRIBED WITHIN THE 'CONFIGURATION' SECTION OF THE
+* FreeRTOS API DOCUMENTATION AVAILABLE ON THE FreeRTOS.org WEB SITE.
+* http://www.freertos.org/a00110.html
+*----------------------------------------------------------*/
+
+#define configUSE_PREEMPTION                    1
+#define configTICK_RATE_HZ                      ( 1000 )                  /* In this non-real time simulated environment the tick frequency has to be at least a multiple of the Win32 tick frequency, and therefore very slow. */
+#define configMINIMAL_STACK_SIZE                ( ( unsigned short ) 60 ) /* In this simulated case, the stack only has to hold one small structure as the real stack is part of the Win32 thread. */
+#define configMAX_TASK_NAME_LEN                 ( 7 )
+#define configUSE_TRACE_FACILITY                1
+#define configUSE_16_BIT_TICKS                  0
+#define configIDLE_SHOULD_YIELD                 1
+#define configUSE_CO_ROUTINES                   0
+#define configUSE_MUTEXES                       1
+#define configCHECK_FOR_STACK_OVERFLOW          0 /* Not applicable to the Win32 port. */
+#define configUSE_RECURSIVE_MUTEXES             1
+#define configQUEUE_REGISTRY_SIZE               0
+#define configUSE_APPLICATION_TASK_TAG          1
+#define configUSE_COUNTING_SEMAPHORES           1
+#define configUSE_ALTERNATIVE_API               0
+
+#define configUSE_TIMERS                        1
+#define configTIMER_TASK_PRIORITY               2
+#define configTIMER_QUEUE_LENGTH                20
+#define configTIMER_TASK_STACK_DEPTH            ( configMINIMAL_STACK_SIZE * 2 )
+
+#define configMAX_PRIORITIES                    ( 7 )
+#define configMAX_CO_ROUTINE_PRIORITIES         ( 2 )
 
 /* Hook functions */
-#define configUSE_IDLE_HOOK				0
-#define configUSE_TICK_HOOK				0
-#define configUSE_MALLOC_FAILED_HOOK	1
+#define configUSE_IDLE_HOOK                     0
+#define configUSE_TICK_HOOK                     0
+#define configUSE_MALLOC_FAILED_HOOK            1
 
 /* Co-routine definitions. */
-#define configUSE_CO_ROUTINES 			0
+#define configUSE_CO_ROUTINES                   0
 
 /* Set the following definitions to 1 to include the API function, or zero
-to exclude the API function. */
+ * to exclude the API function. */
 #define INCLUDE_vTaskPrioritySet                1
 #define INCLUDE_uxTaskPriorityGet               1
 #define INCLUDE_vTaskDelete                     1
@@ -95,25 +95,26 @@ to exclude the API function. */
 #define INCLUDE_xTaskAbortDelay                 1
 
 /* heap_4.c,  */
-#define configTOTAL_HEAP_SIZE				( ( size_t ) ( 2048U * 1024U ) )
+#define configTOTAL_HEAP_SIZE                   ( ( size_t ) ( 2048U * 1024U ) )
 
 /* Allow RTOS objects to be created using RAM provided by the application writer. */
 #define configSUPPORT_STATIC_ALLOCATION         1
 
 /*  Create RTOS objects using dynamically allocated RAM */
-#define configSUPPORT_DYNAMIC_ALLOCATION		1
+#define configSUPPORT_DYNAMIC_ALLOCATION        1
 
 /* This demo makes use of one or more example stats formatting functions.  These
-format the raw data provided by the uxTaskGetSystemState() function in to human
-readable ASCII form.  See the notes in the implementation of vTaskList() within
-FreeRTOS/Source/tasks.c for limitations. */
-#define configUSE_STATS_FORMATTING_FUNCTIONS	1
+ * format the raw data provided by the uxTaskGetSystemState() function in to human
+ * readable ASCII form.  See the notes in the implementation of vTaskList() within
+ * FreeRTOS/Source/tasks.c for limitations. */
+#define configUSE_STATS_FORMATTING_FUNCTIONS    1
 
 /* Run time stats gathering definitions. */
-#define configGENERATE_RUN_TIME_STATS	0
+#define configGENERATE_RUN_TIME_STATS           0
 
 /* Assert call defined for debug builds. */
-extern void vAssertCalled(const char * pcFile, uint32_t ulLine);
+extern void vAssertCalled( const char * pcFile,
+                           uint32_t ulLine );
 #define configASSERT( x )    if( ( x ) == 0 ) vAssertCalled( __FILE__, __LINE__ )
 
 #endif /* FREERTOS_CONFIG_H */
diff --git a/FreeRTOS-Plus/Demo/FreeRTOS_Plus_POSIX_with_actor_Windows_Simulator/lib/FreeRTOS-Plus-POSIX/source/FreeRTOS_POSIX_pthread.c b/FreeRTOS-Plus/Demo/FreeRTOS_Plus_POSIX_with_actor_Windows_Simulator/lib/FreeRTOS-Plus-POSIX/source/FreeRTOS_POSIX_pthread.c
old mode 100755
new mode 100644
index 317db5a..9809525
--- a/FreeRTOS-Plus/Demo/FreeRTOS_Plus_POSIX_with_actor_Windows_Simulator/lib/FreeRTOS-Plus-POSIX/source/FreeRTOS_POSIX_pthread.c
+++ b/FreeRTOS-Plus/Demo/FreeRTOS_Plus_POSIX_with_actor_Windows_Simulator/lib/FreeRTOS-Plus-POSIX/source/FreeRTOS_POSIX_pthread.c
@@ -409,16 +409,16 @@ int pthread_join( pthread_t pthread,
     int iStatus = 0;
     pthread_internal_t * pxThread = ( pthread_internal_t * ) pthread;
 
-    if (pxThread == NULL) 
+    if( pxThread == NULL )
     {
         iStatus = ESRCH;
     }
 
     /* Make sure pthread is joinable. Otherwise, this function would block
      * forever waiting for an unjoinable thread. */
-    if (iStatus == 0)
+    if( iStatus == 0 )
     {
-       if( !pthreadIS_JOINABLE(pxThread->xAttr.usSchedPriorityDetachState) )
+        if( !pthreadIS_JOINABLE( pxThread->xAttr.usSchedPriorityDetachState ) )
         {
             iStatus = EDEADLK;
         }
@@ -485,32 +485,32 @@ int pthread_join( pthread_t pthread,
 int pthread_cancel( pthread_t pthread )
 {
     int iStatus = 0;
-    pthread_internal_t * pxThread = (pthread_internal_t *) pthread;
-    
-    if (pxThread == NULL || pxThread->xTaskHandle == NULL) 
+    pthread_internal_t * pxThread = ( pthread_internal_t * ) pthread;
+
+    if( ( pxThread == NULL ) || ( pxThread->xTaskHandle == NULL ) )
     {
         iStatus = ESRCH;
-    } 
+    }
 
     /* Threads may already be successfully ended elsewhere and pending full deletion in idle task. */
     /* Note the the xJoinBarrier is a binary sem, so no new queue items are made once its already given */
-    if (iStatus == 0 && eDeleted != eTaskGetState(pxThread->xTaskHandle))
+    if( ( iStatus == 0 ) && ( eDeleted != eTaskGetState( pxThread->xTaskHandle ) ) )
     {
-        if (pxThread == pthread_self())
+        if( pxThread == pthread_self() )
         {
             prvExitThread();
         }
         else
         {
-            if (pthreadIS_JOINABLE(pxThread->xAttr.usSchedPriorityDetachState))
+            if( pthreadIS_JOINABLE( pxThread->xAttr.usSchedPriorityDetachState ) )
             {
-                xSemaphoreGive((SemaphoreHandle_t)&pxThread->xJoinBarrier);
-                vTaskSuspend(pxThread->xTaskHandle);
+                xSemaphoreGive( ( SemaphoreHandle_t ) &pxThread->xJoinBarrier );
+                vTaskSuspend( pxThread->xTaskHandle );
             }
             else
             {
-                vTaskDelete(pxThread->xTaskHandle);
-                vPortFree(pxThread);
+                vTaskDelete( pxThread->xTaskHandle );
+                vPortFree( pxThread );
             }
         }
     }
diff --git a/FreeRTOS-Plus/Demo/FreeRTOS_Plus_POSIX_with_actor_Windows_Simulator/lib/include/FreeRTOS_POSIX/pthread.h b/FreeRTOS-Plus/Demo/FreeRTOS_Plus_POSIX_with_actor_Windows_Simulator/lib/include/FreeRTOS_POSIX/pthread.h
old mode 100755
new mode 100644
index ca503bb..699778e
--- a/FreeRTOS-Plus/Demo/FreeRTOS_Plus_POSIX_with_actor_Windows_Simulator/lib/include/FreeRTOS_POSIX/pthread.h
+++ b/FreeRTOS-Plus/Demo/FreeRTOS_Plus_POSIX_with_actor_Windows_Simulator/lib/include/FreeRTOS_POSIX/pthread.h
@@ -234,13 +234,13 @@ int pthread_barrier_init( pthread_barrier_t * barrier,
 int pthread_barrier_wait( pthread_barrier_t * barrier );
 
 /**
-* @brief Request cancellation of thread.
-* 
-* @see https://pubs.opengroup.org/onlinepubs/9699919799/functions/pthread_cancel.html
-* 
-* @retval 0 - Upon successful completion.
-* @retval ESRCH - Upon attempt to cancel null thread.
-*/
+ * @brief Request cancellation of thread.
+ *
+ * @see https://pubs.opengroup.org/onlinepubs/9699919799/functions/pthread_cancel.html
+ *
+ * @retval 0 - Upon successful completion.
+ * @retval ESRCH - Upon attempt to cancel null thread.
+ */
 int pthread_cancel( pthread_t thread );
 
 /**
diff --git a/FreeRTOS-Plus/Demo/FreeRTOS_Plus_POSIX_with_actor_Windows_Simulator/posix_demo.c b/FreeRTOS-Plus/Demo/FreeRTOS_Plus_POSIX_with_actor_Windows_Simulator/posix_demo.c
old mode 100755
new mode 100644
index e2eb3ce..9d032db
--- a/FreeRTOS-Plus/Demo/FreeRTOS_Plus_POSIX_with_actor_Windows_Simulator/posix_demo.c
+++ b/FreeRTOS-Plus/Demo/FreeRTOS_Plus_POSIX_with_actor_Windows_Simulator/posix_demo.c
@@ -272,12 +272,12 @@ static void * prvDispatcherThread( void * pvArgs )
  *
  * See the top of this file for detailed description.
  */
-void vStartPOSIXDemo( void *pvParameters )
+void vStartPOSIXDemo( void * pvParameters )
 {
     int i = 0;
     int iStatus = 0;
 
-	/* Remove warnings about unused parameters. */
+    /* Remove warnings about unused parameters. */
     ( void ) pvParameters;
 
     /* Handles of the threads and related resources. */
@@ -369,145 +369,152 @@ void vStartPOSIXDemo( void *pvParameters )
         printf( "Queues did not get initialized properly. Did not run demo. %s", LINE_BREAK );
     }
 
-	/* This task was created with the native xTaskCreate() API function, so
-	must not run off the end of its implementing thread. */
-    printf("\n------ SUMMARY ------\n");
-    static char status[40 * 100] = { 0 };
-    vTaskList(status);
-    printf(status);
-    printf("\n");
-	vTaskDelete( NULL );
+    /* This task was created with the native xTaskCreate() API function, so
+     * must not run off the end of its implementing thread. */
+    printf( "\n------ SUMMARY ------\n" );
+    static char status[ 40 * 100 ] = { 0 };
+    vTaskList( status );
+    printf( status );
+    printf( "\n" );
+    vTaskDelete( NULL );
 }
 
 
 /*-----------------------------------------------------------*/
-#define N_DUMMY_THREADS 10
-#define N_DUMMY_LOOPS   100
+#define N_DUMMY_THREADS    10
+#define N_DUMMY_LOOPS      100
 
-static void * prvDummyThread(void* pvArgs)
+static void * prvDummyThread( void * pvArgs )
 {
-    int id = (int)pvArgs;
+    int id = ( int ) pvArgs;
 
-    struct timespec ts = {
-        .tv_sec = 1,
+    struct timespec ts =
+    {
+        .tv_sec  = 1,
         .tv_nsec = 0
     };
 
-    for (int i = 0; i < N_DUMMY_LOOPS; i++)
+    for( int i = 0; i < N_DUMMY_LOOPS; i++ )
     {
-        printf("Thread[%02d] loop[%02d]\n", id, i);
-        nanosleep(&ts, NULL);
+        printf( "Thread[%02d] loop[%02d]\n", id, i );
+        nanosleep( &ts, NULL );
     }
 
-    while (1);
+    while( 1 )
+    {
+    }
 
     return 0;
 }
 
-static void * prvSelfDestructThread(void* pvArgs)
+static void * prvSelfDestructThread( void * pvArgs )
 {
-    struct timespec ts = {
-        .tv_sec = 1,
+    struct timespec ts =
+    {
+        .tv_sec  = 1,
         .tv_nsec = 0
     };
 
-    nanosleep(&ts, NULL);
-    configASSERT(0 == pthread_cancel(pthread_self()));
+    nanosleep( &ts, NULL );
+    configASSERT( 0 == pthread_cancel( pthread_self() ) );
 
     ts.tv_sec = 1;
-    while (1) {
-        nanosleep(&ts, NULL);
+
+    while( 1 )
+    {
+        nanosleep( &ts, NULL );
     }
 }
 
 /*
  * Create various joinable/detached threads and cancel/join them in various orders
  */
-void vTestPthreadCancel(void* pvParameters)
+void vTestPthreadCancel( void * pvParameters )
 {
     pthread_attr_t pattr;
     struct sched_param sched_config;
-    pthread_t threads[N_DUMMY_THREADS] = { 0 };
-    pthread_attr_init(&pattr);
+    pthread_t threads[ N_DUMMY_THREADS ] = { 0 };
+
+    pthread_attr_init( &pattr );
 
     /* Want these tasks of equal priority so they can preempt eachother. The spawner task (THIS) will
-       exhaustively cancel all the threads with pthread_cancel */
-    sched_config.sched_priority = uxTaskPriorityGet(NULL);
-    pthread_attr_setschedparam(&pattr, &sched_config);
-    pthread_attr_setdetachstate(&pattr, PTHREAD_CREATE_JOINABLE);
+     * exhaustively cancel all the threads with pthread_cancel */
+    sched_config.sched_priority = uxTaskPriorityGet( NULL );
+    pthread_attr_setschedparam( &pattr, &sched_config );
+    pthread_attr_setdetachstate( &pattr, PTHREAD_CREATE_JOINABLE );
 
 
-    printf("Creating %d threads looping %d times\n", N_DUMMY_THREADS, N_DUMMY_LOOPS);
+    printf( "Creating %d threads looping %d times\n", N_DUMMY_THREADS, N_DUMMY_LOOPS );
+
     /* The first half is default (joinable) the second half is detached*/
-    for (int i = 0; i < N_DUMMY_THREADS; i++)
+    for( int i = 0; i < N_DUMMY_THREADS; i++ )
     {
-        if (i == (N_DUMMY_THREADS / 2))
+        if( i == ( N_DUMMY_THREADS / 2 ) )
         {
-           pthread_attr_setdetachstate(&pattr, PTHREAD_CREATE_DETACHED);
+            pthread_attr_setdetachstate( &pattr, PTHREAD_CREATE_DETACHED );
         }
 
-        pthread_create(&threads[i], &pattr, prvDummyThread, (void *)i);
+        pthread_create( &threads[ i ], &pattr, prvDummyThread, ( void * ) i );
     }
-    
-    struct timespec ts = {
-        .tv_sec = 1,
+
+    struct timespec ts =
+    {
+        .tv_sec  = 1,
         .tv_nsec = 0
     };
 
     /*Let the test threads run for a bit, then exercise typical cancellation*/
-    for (int i=0; i < N_DUMMY_THREADS; i++)
+    for( int i = 0; i < N_DUMMY_THREADS; i++ )
     {
-        nanosleep(&ts, NULL);
+        nanosleep( &ts, NULL );
 
-        if (i < (N_DUMMY_THREADS / 2))
+        if( i < ( N_DUMMY_THREADS / 2 ) )
         {
             /* A cancelled joinable thread won't have relinquished its resources, but instead will suspend to joining */
-            configASSERT(0 == pthread_cancel(threads[i]));
-            configASSERT(0 == pthread_join(threads[i], NULL));
+            configASSERT( 0 == pthread_cancel( threads[ i ] ) );
+            configASSERT( 0 == pthread_join( threads[ i ], NULL ) );
         }
         else
         {
             /* A detached thread will fully relinquish resources its responsible for */
-            configASSERT(0 == pthread_cancel(threads[i]));
+            configASSERT( 0 == pthread_cancel( threads[ i ] ) );
         }
     }
-   
+
     /* Excercise cancelling a NULL thread */
-    configASSERT(ESRCH == pthread_cancel(NULL));
+    configASSERT( ESRCH == pthread_cancel( NULL ) );
 
     /* Exercise a thread cancelling itself using pthread_cancel */
     pthread_t self_desctructor = NULL;
     /* detached thread */
-    pthread_attr_setdetachstate(&pattr, PTHREAD_CREATE_DETACHED);
-    pthread_create(&self_desctructor, &pattr, prvSelfDestructThread, NULL); 
+    pthread_attr_setdetachstate( &pattr, PTHREAD_CREATE_DETACHED );
+    pthread_create( &self_desctructor, &pattr, prvSelfDestructThread, NULL );
     /* joinable thread */
-    pthread_attr_setdetachstate(&pattr, PTHREAD_CREATE_JOINABLE);
-    pthread_create(&self_desctructor, &pattr, prvSelfDestructThread, NULL);
-    configASSERT(0 == pthread_join(self_desctructor, NULL));
-    
+    pthread_attr_setdetachstate( &pattr, PTHREAD_CREATE_JOINABLE );
+    pthread_create( &self_desctructor, &pattr, prvSelfDestructThread, NULL );
+    configASSERT( 0 == pthread_join( self_desctructor, NULL ) );
+
     /* Excercise double cancellation of: */
     pthread_t doubly_cancelled = NULL;
     /* detached thread */
-    pthread_attr_setdetachstate(&pattr, PTHREAD_CREATE_DETACHED);
-    pthread_create(&doubly_cancelled, &pattr, prvDummyThread, NULL);
-    pthread_cancel(doubly_cancelled);
-    pthread_cancel(doubly_cancelled);
+    pthread_attr_setdetachstate( &pattr, PTHREAD_CREATE_DETACHED );
+    pthread_create( &doubly_cancelled, &pattr, prvDummyThread, NULL );
+    pthread_cancel( doubly_cancelled );
+    pthread_cancel( doubly_cancelled );
 
     /* joinable thread */
-    pthread_attr_setdetachstate(&pattr, PTHREAD_CREATE_JOINABLE);
-    pthread_create(&doubly_cancelled, &pattr, prvDummyThread, NULL);
-    pthread_cancel(doubly_cancelled);
-    pthread_cancel(doubly_cancelled);
-    configASSERT(0 == pthread_join(doubly_cancelled, NULL));
+    pthread_attr_setdetachstate( &pattr, PTHREAD_CREATE_JOINABLE );
+    pthread_create( &doubly_cancelled, &pattr, prvDummyThread, NULL );
+    pthread_cancel( doubly_cancelled );
+    pthread_cancel( doubly_cancelled );
+    configASSERT( 0 == pthread_join( doubly_cancelled, NULL ) );
 
     /* All threads should be cancelled by now, leaving only this, main, idle, and timer tasks*/
-    printf("\n------ SUMMARY ------\n");
-    nanosleep(&ts, NULL);
-    static char status[40 * (N_DUMMY_THREADS + 5 + 3)] = { 0 };
-    vTaskList(status);
-    printf(status);
-    printf("\n");
-    vTaskDelete(NULL);
+    printf( "\n------ SUMMARY ------\n" );
+    nanosleep( &ts, NULL );
+    static char status[ 40 * ( N_DUMMY_THREADS + 5 + 3 ) ] = { 0 };
+    vTaskList( status );
+    printf( status );
+    printf( "\n" );
+    vTaskDelete( NULL );
 }
-
-
diff --git a/FreeRTOS-Plus/Demo/FreeRTOS_Plus_POSIX_with_actor_Windows_Simulator/posix_demo.h b/FreeRTOS-Plus/Demo/FreeRTOS_Plus_POSIX_with_actor_Windows_Simulator/posix_demo.h
old mode 100755
new mode 100644
index dcadf6e..3e33496
--- a/FreeRTOS-Plus/Demo/FreeRTOS_Plus_POSIX_with_actor_Windows_Simulator/posix_demo.h
+++ b/FreeRTOS-Plus/Demo/FreeRTOS_Plus_POSIX_with_actor_Windows_Simulator/posix_demo.h
@@ -28,6 +28,6 @@
 #ifndef _POSIX_DEMO_H_
 #define _POSIX_DEMO_H_
 void vStartPOSIXDemo( void * pvParameters );
-void vTestPthreadCancel(void* pvParameters);
+void vTestPthreadCancel( void * pvParameters );
 
-#endif /* _POSIX_DEMO_H_ */
\ No newline at end of file
+#endif /* _POSIX_DEMO_H_ */

From 9cdb9329dfb67020f821c00ba0a21a0feb2762b9 Mon Sep 17 00:00:00 2001
From: David Chalco <david@chalco.io>
Date: Fri, 21 Feb 2020 19:21:43 +0000
Subject: [PATCH 3/7] Undo modification of worker demo thread

---
 .../posix_demo.c                                             | 5 -----
 1 file changed, 5 deletions(-)

diff --git a/FreeRTOS-Plus/Demo/FreeRTOS_Plus_POSIX_with_actor_Windows_Simulator/posix_demo.c b/FreeRTOS-Plus/Demo/FreeRTOS_Plus_POSIX_with_actor_Windows_Simulator/posix_demo.c
index 9d032db..3d7b039 100644
--- a/FreeRTOS-Plus/Demo/FreeRTOS_Plus_POSIX_with_actor_Windows_Simulator/posix_demo.c
+++ b/FreeRTOS-Plus/Demo/FreeRTOS_Plus_POSIX_with_actor_Windows_Simulator/posix_demo.c
@@ -371,11 +371,6 @@ void vStartPOSIXDemo( void * pvParameters )
 
     /* This task was created with the native xTaskCreate() API function, so
      * must not run off the end of its implementing thread. */
-    printf( "\n------ SUMMARY ------\n" );
-    static char status[ 40 * 100 ] = { 0 };
-    vTaskList( status );
-    printf( status );
-    printf( "\n" );
     vTaskDelete( NULL );
 }
 

From c8fd2101750326f86d615aab3af93d752e4547e8 Mon Sep 17 00:00:00 2001
From: David Chalco <david@chalco.io>
Date: Fri, 21 Feb 2020 19:29:00 +0000
Subject: [PATCH 4/7] Enhance status messages

---
 .../posix_demo.c                                             | 5 ++---
 1 file changed, 2 insertions(+), 3 deletions(-)

diff --git a/FreeRTOS-Plus/Demo/FreeRTOS_Plus_POSIX_with_actor_Windows_Simulator/posix_demo.c b/FreeRTOS-Plus/Demo/FreeRTOS_Plus_POSIX_with_actor_Windows_Simulator/posix_demo.c
index 3d7b039..b22ad35 100644
--- a/FreeRTOS-Plus/Demo/FreeRTOS_Plus_POSIX_with_actor_Windows_Simulator/posix_demo.c
+++ b/FreeRTOS-Plus/Demo/FreeRTOS_Plus_POSIX_with_actor_Windows_Simulator/posix_demo.c
@@ -438,9 +438,7 @@ void vTestPthreadCancel( void * pvParameters )
     pthread_attr_setschedparam( &pattr, &sched_config );
     pthread_attr_setdetachstate( &pattr, PTHREAD_CREATE_JOINABLE );
 
-
-    printf( "Creating %d threads looping %d times\n", N_DUMMY_THREADS, N_DUMMY_LOOPS );
-
+    printf( "\nCreating then deleting various threads...\n" );
     /* The first half is default (joinable) the second half is detached*/
     for( int i = 0; i < N_DUMMY_THREADS; i++ )
     {
@@ -505,6 +503,7 @@ void vTestPthreadCancel( void * pvParameters )
     configASSERT( 0 == pthread_join( doubly_cancelled, NULL ) );
 
     /* All threads should be cancelled by now, leaving only this, main, idle, and timer tasks*/
+    printf( "Done.\n" );
     printf( "\n------ SUMMARY ------\n" );
     nanosleep( &ts, NULL );
     static char status[ 40 * ( N_DUMMY_THREADS + 5 + 3 ) ] = { 0 };

From d33a7be2932c455ae8c0ccb6ee56d06fe9c13039 Mon Sep 17 00:00:00 2001
From: David Chalco <david@chalco.io>
Date: Fri, 21 Feb 2020 11:30:20 -0800
Subject: [PATCH 5/7] uncrustify

---
 .../posix_demo.c                                                 | 1 +
 1 file changed, 1 insertion(+)

diff --git a/FreeRTOS-Plus/Demo/FreeRTOS_Plus_POSIX_with_actor_Windows_Simulator/posix_demo.c b/FreeRTOS-Plus/Demo/FreeRTOS_Plus_POSIX_with_actor_Windows_Simulator/posix_demo.c
index b22ad35..598c167 100644
--- a/FreeRTOS-Plus/Demo/FreeRTOS_Plus_POSIX_with_actor_Windows_Simulator/posix_demo.c
+++ b/FreeRTOS-Plus/Demo/FreeRTOS_Plus_POSIX_with_actor_Windows_Simulator/posix_demo.c
@@ -439,6 +439,7 @@ void vTestPthreadCancel( void * pvParameters )
     pthread_attr_setdetachstate( &pattr, PTHREAD_CREATE_JOINABLE );
 
     printf( "\nCreating then deleting various threads...\n" );
+
     /* The first half is default (joinable) the second half is detached*/
     for( int i = 0; i < N_DUMMY_THREADS; i++ )
     {

From 9dee3ce69a033202ba141f6af35dbbeea3cf983c Mon Sep 17 00:00:00 2001
From: David Chalco <david@chalco.io>
Date: Sat, 22 Feb 2020 00:04:10 +0000
Subject: [PATCH 6/7] Remove ESRCH and test code

---
 .../source/FreeRTOS_POSIX_pthread.c           |  19 +--
 .../posix_demo.c                              | 142 +-----------------
 .../posix_demo.h                              |   2 +-
 3 files changed, 5 insertions(+), 158 deletions(-)

diff --git a/FreeRTOS-Plus/Demo/FreeRTOS_Plus_POSIX_with_actor_Windows_Simulator/lib/FreeRTOS-Plus-POSIX/source/FreeRTOS_POSIX_pthread.c b/FreeRTOS-Plus/Demo/FreeRTOS_Plus_POSIX_with_actor_Windows_Simulator/lib/FreeRTOS-Plus-POSIX/source/FreeRTOS_POSIX_pthread.c
index 9809525..9000336 100644
--- a/FreeRTOS-Plus/Demo/FreeRTOS_Plus_POSIX_with_actor_Windows_Simulator/lib/FreeRTOS-Plus-POSIX/source/FreeRTOS_POSIX_pthread.c
+++ b/FreeRTOS-Plus/Demo/FreeRTOS_Plus_POSIX_with_actor_Windows_Simulator/lib/FreeRTOS-Plus-POSIX/source/FreeRTOS_POSIX_pthread.c
@@ -409,19 +409,11 @@ int pthread_join( pthread_t pthread,
     int iStatus = 0;
     pthread_internal_t * pxThread = ( pthread_internal_t * ) pthread;
 
-    if( pxThread == NULL )
-    {
-        iStatus = ESRCH;
-    }
-
     /* Make sure pthread is joinable. Otherwise, this function would block
      * forever waiting for an unjoinable thread. */
-    if( iStatus == 0 )
+    if( !pthreadIS_JOINABLE( pxThread->xAttr.usSchedPriorityDetachState ) )
     {
-        if( !pthreadIS_JOINABLE( pxThread->xAttr.usSchedPriorityDetachState ) )
-        {
-            iStatus = EDEADLK;
-        }
+        iStatus = EDEADLK;
     }
 
     /* Only one thread may attempt to join another. Lock the join mutex
@@ -487,14 +479,9 @@ int pthread_cancel( pthread_t pthread )
     int iStatus = 0;
     pthread_internal_t * pxThread = ( pthread_internal_t * ) pthread;
 
-    if( ( pxThread == NULL ) || ( pxThread->xTaskHandle == NULL ) )
-    {
-        iStatus = ESRCH;
-    }
-
     /* Threads may already be successfully ended elsewhere and pending full deletion in idle task. */
     /* Note the the xJoinBarrier is a binary sem, so no new queue items are made once its already given */
-    if( ( iStatus == 0 ) && ( eDeleted != eTaskGetState( pxThread->xTaskHandle ) ) )
+    if( pxThread && pxThread->xTaskHandle && ( eDeleted != eTaskGetState( pxThread->xTaskHandle ) ) )
     {
         if( pxThread == pthread_self() )
         {
diff --git a/FreeRTOS-Plus/Demo/FreeRTOS_Plus_POSIX_with_actor_Windows_Simulator/posix_demo.c b/FreeRTOS-Plus/Demo/FreeRTOS_Plus_POSIX_with_actor_Windows_Simulator/posix_demo.c
index 598c167..b31cedb 100644
--- a/FreeRTOS-Plus/Demo/FreeRTOS_Plus_POSIX_with_actor_Windows_Simulator/posix_demo.c
+++ b/FreeRTOS-Plus/Demo/FreeRTOS_Plus_POSIX_with_actor_Windows_Simulator/posix_demo.c
@@ -372,144 +372,4 @@ void vStartPOSIXDemo( void * pvParameters )
     /* This task was created with the native xTaskCreate() API function, so
      * must not run off the end of its implementing thread. */
     vTaskDelete( NULL );
-}
-
-
-/*-----------------------------------------------------------*/
-#define N_DUMMY_THREADS    10
-#define N_DUMMY_LOOPS      100
-
-static void * prvDummyThread( void * pvArgs )
-{
-    int id = ( int ) pvArgs;
-
-    struct timespec ts =
-    {
-        .tv_sec  = 1,
-        .tv_nsec = 0
-    };
-
-    for( int i = 0; i < N_DUMMY_LOOPS; i++ )
-    {
-        printf( "Thread[%02d] loop[%02d]\n", id, i );
-        nanosleep( &ts, NULL );
-    }
-
-    while( 1 )
-    {
-    }
-
-    return 0;
-}
-
-static void * prvSelfDestructThread( void * pvArgs )
-{
-    struct timespec ts =
-    {
-        .tv_sec  = 1,
-        .tv_nsec = 0
-    };
-
-    nanosleep( &ts, NULL );
-    configASSERT( 0 == pthread_cancel( pthread_self() ) );
-
-    ts.tv_sec = 1;
-
-    while( 1 )
-    {
-        nanosleep( &ts, NULL );
-    }
-}
-
-/*
- * Create various joinable/detached threads and cancel/join them in various orders
- */
-void vTestPthreadCancel( void * pvParameters )
-{
-    pthread_attr_t pattr;
-    struct sched_param sched_config;
-    pthread_t threads[ N_DUMMY_THREADS ] = { 0 };
-
-    pthread_attr_init( &pattr );
-
-    /* Want these tasks of equal priority so they can preempt eachother. The spawner task (THIS) will
-     * exhaustively cancel all the threads with pthread_cancel */
-    sched_config.sched_priority = uxTaskPriorityGet( NULL );
-    pthread_attr_setschedparam( &pattr, &sched_config );
-    pthread_attr_setdetachstate( &pattr, PTHREAD_CREATE_JOINABLE );
-
-    printf( "\nCreating then deleting various threads...\n" );
-
-    /* The first half is default (joinable) the second half is detached*/
-    for( int i = 0; i < N_DUMMY_THREADS; i++ )
-    {
-        if( i == ( N_DUMMY_THREADS / 2 ) )
-        {
-            pthread_attr_setdetachstate( &pattr, PTHREAD_CREATE_DETACHED );
-        }
-
-        pthread_create( &threads[ i ], &pattr, prvDummyThread, ( void * ) i );
-    }
-
-    struct timespec ts =
-    {
-        .tv_sec  = 1,
-        .tv_nsec = 0
-    };
-
-    /*Let the test threads run for a bit, then exercise typical cancellation*/
-    for( int i = 0; i < N_DUMMY_THREADS; i++ )
-    {
-        nanosleep( &ts, NULL );
-
-        if( i < ( N_DUMMY_THREADS / 2 ) )
-        {
-            /* A cancelled joinable thread won't have relinquished its resources, but instead will suspend to joining */
-            configASSERT( 0 == pthread_cancel( threads[ i ] ) );
-            configASSERT( 0 == pthread_join( threads[ i ], NULL ) );
-        }
-        else
-        {
-            /* A detached thread will fully relinquish resources its responsible for */
-            configASSERT( 0 == pthread_cancel( threads[ i ] ) );
-        }
-    }
-
-    /* Excercise cancelling a NULL thread */
-    configASSERT( ESRCH == pthread_cancel( NULL ) );
-
-    /* Exercise a thread cancelling itself using pthread_cancel */
-    pthread_t self_desctructor = NULL;
-    /* detached thread */
-    pthread_attr_setdetachstate( &pattr, PTHREAD_CREATE_DETACHED );
-    pthread_create( &self_desctructor, &pattr, prvSelfDestructThread, NULL );
-    /* joinable thread */
-    pthread_attr_setdetachstate( &pattr, PTHREAD_CREATE_JOINABLE );
-    pthread_create( &self_desctructor, &pattr, prvSelfDestructThread, NULL );
-    configASSERT( 0 == pthread_join( self_desctructor, NULL ) );
-
-    /* Excercise double cancellation of: */
-    pthread_t doubly_cancelled = NULL;
-    /* detached thread */
-    pthread_attr_setdetachstate( &pattr, PTHREAD_CREATE_DETACHED );
-    pthread_create( &doubly_cancelled, &pattr, prvDummyThread, NULL );
-    pthread_cancel( doubly_cancelled );
-    pthread_cancel( doubly_cancelled );
-
-    /* joinable thread */
-    pthread_attr_setdetachstate( &pattr, PTHREAD_CREATE_JOINABLE );
-    pthread_create( &doubly_cancelled, &pattr, prvDummyThread, NULL );
-    pthread_cancel( doubly_cancelled );
-    pthread_cancel( doubly_cancelled );
-    configASSERT( 0 == pthread_join( doubly_cancelled, NULL ) );
-
-    /* All threads should be cancelled by now, leaving only this, main, idle, and timer tasks*/
-    printf( "Done.\n" );
-    printf( "\n------ SUMMARY ------\n" );
-    nanosleep( &ts, NULL );
-    static char status[ 40 * ( N_DUMMY_THREADS + 5 + 3 ) ] = { 0 };
-    vTaskList( status );
-    printf( status );
-    printf( "\n" );
-    vTaskDelete( NULL );
-}
+}
\ No newline at end of file
diff --git a/FreeRTOS-Plus/Demo/FreeRTOS_Plus_POSIX_with_actor_Windows_Simulator/posix_demo.h b/FreeRTOS-Plus/Demo/FreeRTOS_Plus_POSIX_with_actor_Windows_Simulator/posix_demo.h
index 3e33496..fb5fa8b 100644
--- a/FreeRTOS-Plus/Demo/FreeRTOS_Plus_POSIX_with_actor_Windows_Simulator/posix_demo.h
+++ b/FreeRTOS-Plus/Demo/FreeRTOS_Plus_POSIX_with_actor_Windows_Simulator/posix_demo.h
@@ -27,7 +27,7 @@
 
 #ifndef _POSIX_DEMO_H_
 #define _POSIX_DEMO_H_
+
 void vStartPOSIXDemo( void * pvParameters );
-void vTestPthreadCancel( void * pvParameters );
 
 #endif /* _POSIX_DEMO_H_ */

From 6b1d9fb21342d176935bc8630439d628043a9c43 Mon Sep 17 00:00:00 2001
From: David Chalco <david@chalco.io>
Date: Fri, 21 Feb 2020 17:06:48 -0800
Subject: [PATCH 7/7] Doc line on ESRCH no longer valid. Remove it

---
 include/FreeRTOS_POSIX/pthread.h | 2 --
 1 file changed, 2 deletions(-)

diff --git a/include/FreeRTOS_POSIX/pthread.h b/include/FreeRTOS_POSIX/pthread.h
index 699778e..0e1a0eb 100644
--- a/include/FreeRTOS_POSIX/pthread.h
+++ b/include/FreeRTOS_POSIX/pthread.h
@@ -239,7 +239,6 @@ int pthread_barrier_wait( pthread_barrier_t * barrier );
  * @see https://pubs.opengroup.org/onlinepubs/9699919799/functions/pthread_cancel.html
  *
  * @retval 0 - Upon successful completion.
- * @retval ESRCH - Upon attempt to cancel null thread.
  */
 int pthread_cancel( pthread_t thread );
 
@@ -364,7 +363,6 @@ int pthread_getschedparam( pthread_t thread,
  *                   to a joinable thread OR multiple simultaneous calls to pthread_join()
  *                   specifying the same target thread OR the value specified by the thread argument
  *                   to pthread_join() refers to the calling thread.
- * @retval ESRCH - Upon attempt to join null thread.
  */
 int pthread_join( pthread_t thread,
                   void ** retval );