From f38d7d2ed33a9999c22c59168263572cd4fef1c7 Mon Sep 17 00:00:00 2001
From: raiden00pl <raiden00@railab.me>
Date: Sat, 6 Nov 2021 17:46:03 +0100
Subject: [PATCH] examples/foc: terminate main loop if FOC control loop
 terminated

---
 examples/foc/foc_main.c | 34 ++++++++++++++++++++++++++++++++++
 1 file changed, 34 insertions(+)

diff --git a/examples/foc/foc_main.c b/examples/foc/foc_main.c
index c3ddbd86c..a0a835948 100644
--- a/examples/foc/foc_main.c
+++ b/examples/foc/foc_main.c
@@ -458,6 +458,33 @@ errout:
   return NULL;
 }
 
+/****************************************************************************
+ * Name: foc_threads_terminated
+ ****************************************************************************/
+
+static bool foc_threads_terminated(void)
+{
+  bool ret = false;
+
+  pthread_mutex_unlock(&g_cntr_lock);
+
+  if (1
+#ifdef CONFIG_INDUSTRY_FOC_FLOAT
+      && g_float_thr_cntr <= 0
+#endif
+#ifdef CONFIG_INDUSTRY_FOC_FIXED16
+      && g_fixed16_thr_cntr <= 0
+#endif
+    )
+    {
+      ret = true;
+    }
+
+  pthread_mutex_lock(&g_cntr_lock);
+
+  return ret;
+}
+
 /****************************************************************************
  * Name: foc_threads_init
  ****************************************************************************/
@@ -931,6 +958,13 @@ int main(int argc, char *argv[])
             }
         }
 
+      /* Terminate main loop if threads terminated */
+
+      if (foc_threads_terminated() == true)
+        {
+          terminate = true;
+        }
+
       usleep(MAIN_LOOP_USLEEP);
     }