SYNOPSIS
#include <hal.h>
int hal_exit(int comp_id);ARGUMENTS
- comp_id
-
A HAL component identifier returned by an earlier call to hal_init.
DESCRIPTION
The function hal_exit() shuts down and cleans up HAL and RTAPI. It must be called prior to exit by any module that called hal_init(3).
Each hal_init(3) call must be matched with a hal_exit() call. Failing to do so will leak resources in HAL memory and may hamper proper shutdown. Usually you’d call hal_exit() in rtapi_app_exit(3).
REALTIME CONSIDERATIONS
Call only from within non-realtime or init/cleanup code, not from realtime tasks.
RETURN VALUE
Returns zero (0) on success or a HAL status code:
| -EFAULT |
The shared memory was not mapped. |
| -ENOENT |
The component does not exist. |