Method join

TactilityFreeRtos/Include/Tactility/Thread.h:226–238

* @warning If this blocks forever, it might be because of the Thread, but it could also be because another task is blocking the CPU. */

     * @warning If this blocks forever, it might be because of the Thread, but it could also be because another task is blocking the CPU.
     */
    bool join(TickType_t timeout = kernel::MAX_TICKS, TickType_t pollInterval = 10) {
        assert(getCurrent() != this);

        TickType_t start_ticks = kernel::getTicks();
        while (getTaskHandle()) {
            kernel::delayTicks(pollInterval);
            if (kernel::getTicks() - start_ticks > timeout) {
                return false;
            }
        }

        return true;
    }

    TaskHandle_t getTaskHandle() const { return taskHandle; }