From 28b4e978534e164d08125a9b0cf1fe428d9ad122 Mon Sep 17 00:00:00 2001 From: Anton Babushkin Date: Tue, 22 Oct 2013 21:01:30 +0200 Subject: [PATCH 1/2] Fixed bug with fd leak in rc_calibration_check --- src/modules/commander/commander.cpp | 4 ++-- src/modules/systemlib/rc_check.c | 4 +--- src/modules/systemlib/rc_check.h | 2 +- src/systemcmds/preflight_check/preflight_check.c | 4 ++-- 4 files changed, 6 insertions(+), 8 deletions(-) diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 2ef509980c..db758c3865 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -687,7 +687,7 @@ int commander_thread_main(int argc, char *argv[]) bool updated = false; - bool rc_calibration_ok = (OK == rc_calibration_check()); + bool rc_calibration_ok = (OK == rc_calibration_check(mavlink_fd)); /* Subscribe to safety topic */ int safety_sub = orb_subscribe(ORB_ID(safety)); @@ -802,7 +802,7 @@ int commander_thread_main(int argc, char *argv[]) status_changed = true; /* re-check RC calibration */ - rc_calibration_ok = (OK == rc_calibration_check()); + rc_calibration_ok = (OK == rc_calibration_check(mavlink_fd)); /* navigation parameters */ param_get(_param_takeoff_alt, &takeoff_alt); diff --git a/src/modules/systemlib/rc_check.c b/src/modules/systemlib/rc_check.c index 60d6473b8c..b4350cc243 100644 --- a/src/modules/systemlib/rc_check.c +++ b/src/modules/systemlib/rc_check.c @@ -47,14 +47,12 @@ #include #include -int rc_calibration_check(void) { +int rc_calibration_check(int mavlink_fd) { char nbuf[20]; param_t _parameter_handles_min, _parameter_handles_trim, _parameter_handles_max, _parameter_handles_rev, _parameter_handles_dz; - int mavlink_fd = open(MAVLINK_LOG_DEVICE, 0); - float param_min, param_max, param_trim, param_rev, param_dz; /* first check channel mappings */ diff --git a/src/modules/systemlib/rc_check.h b/src/modules/systemlib/rc_check.h index e2238d1516..e70b83ccee 100644 --- a/src/modules/systemlib/rc_check.h +++ b/src/modules/systemlib/rc_check.h @@ -47,6 +47,6 @@ * @return 0 / OK if RC calibration is ok, index + 1 of the first * channel that failed else (so 1 == first channel failed) */ -__EXPORT int rc_calibration_check(void); +__EXPORT int rc_calibration_check(int mavlink_fd); __END_DECLS diff --git a/src/systemcmds/preflight_check/preflight_check.c b/src/systemcmds/preflight_check/preflight_check.c index e9c5f1a2cf..1c58a2db69 100644 --- a/src/systemcmds/preflight_check/preflight_check.c +++ b/src/systemcmds/preflight_check/preflight_check.c @@ -140,7 +140,7 @@ int preflight_check_main(int argc, char *argv[]) /* ---- RC CALIBRATION ---- */ - bool rc_ok = (OK == rc_calibration_check()); + bool rc_ok = (OK == rc_calibration_check(mavlink_fd)); /* warn */ if (!rc_ok) @@ -227,4 +227,4 @@ static int led_off(int leds, int led) static int led_on(int leds, int led) { return ioctl(leds, LED_ON, led); -} \ No newline at end of file +} From 2f66a8894f1f8035bfc076306aa0d83197be108a Mon Sep 17 00:00:00 2001 From: Anton Babushkin Date: Tue, 22 Oct 2013 21:02:29 +0200 Subject: [PATCH 2/2] param_save_default() rewritten: don't try 10 times to do every operation but do it safe using temp file --- src/modules/systemlib/param/param.c | 95 ++++++++++++++--------------- 1 file changed, 47 insertions(+), 48 deletions(-) diff --git a/src/modules/systemlib/param/param.c b/src/modules/systemlib/param/param.c index ccdb2ea38b..398657dd79 100644 --- a/src/modules/systemlib/param/param.c +++ b/src/modules/systemlib/param/param.c @@ -508,64 +508,63 @@ param_get_default_file(void) int param_save_default(void) { - int result; - unsigned retries = 0; - - /* delete the file in case it exists */ - struct stat buffer; - if (stat(param_get_default_file(), &buffer) == 0) { - - do { - result = unlink(param_get_default_file()); - if (result != 0) { - retries++; - usleep(1000 * retries); - } - } while (result != OK && retries < 10); - - if (result != OK) - warnx("unlinking file %s failed.", param_get_default_file()); - } - - /* create the file */ + int res; int fd; - do { - /* do another attempt in case the unlink call is not synced yet */ - fd = open(param_get_default_file(), O_WRONLY | O_CREAT | O_EXCL); + const char *filename = param_get_default_file(); + const char *filename_tmp = malloc(strlen(filename) + 5); + sprintf(filename_tmp, "%s.tmp", filename); + + /* delete temp file if exist */ + res = unlink(filename_tmp); + + if (res != OK && errno == ENOENT) + res = OK; + + if (res != OK) + warn("failed to delete temp file: %s", filename_tmp); + + if (res == OK) { + /* write parameters to temp file */ + fd = open(filename_tmp, O_WRONLY | O_CREAT | O_EXCL); + if (fd < 0) { - retries++; - usleep(1000 * retries); + warn("failed to open temp file: %s", filename_tmp); + res = ERROR; } - } while (fd < 0 && retries < 10); + if (res == OK) { + res = param_export(fd, false); - if (fd < 0) { - - warn("opening '%s' for writing failed", param_get_default_file()); - return fd; - } - - do { - result = param_export(fd, false); - - if (result != OK) { - retries++; - usleep(1000 * retries); + if (res != OK) + warnx("failed to write parameters to file: %s", filename_tmp); } - } while (result != 0 && retries < 10); - - - close(fd); - - if (result != OK) { - warn("error exporting parameters to '%s'", param_get_default_file()); - (void)unlink(param_get_default_file()); - return result; + close(fd); } - return 0; + if (res == OK) { + /* delete parameters file */ + res = unlink(filename); + + if (res != OK && errno == ENOENT) + res = OK; + + if (res != OK) + warn("failed to delete parameters file: %s", filename); + } + + if (res == OK) { + /* rename temp file to parameters */ + res = rename(filename_tmp, filename); + + if (res != OK) + warn("failed to rename %s to %s", filename_tmp, filename); + } + + free(filename_tmp); + + return res; } /**