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drv_hrt: make lockstep_scheduler a pointer

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This solves a potential dead-lock when trying to shutdown: a call to exit()
stops all threads and calls all destructors for static objects.
The destructor of LockstepScheduler takes a lock. However this is not
safe, as the lock could already be taken (by any thread).
This commit is contained in:
Beat Küng
2019-03-08 12:22:45 -05:00
committed by Daniel Agar
parent 27ad3178f8
commit 08298ab3d0
1 changed files with 9 additions and 9 deletions
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platforms/posix/src/px4_layer/drv_hrt.cpp
+9 -9
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@@ -68,7 +68,7 @@ static int32_t dsp_offset = 0;
#endif #endif
#if defined(ENABLE_LOCKSTEP_SCHEDULER) #if defined(ENABLE_LOCKSTEP_SCHEDULER)
static LockstepScheduler lockstep_scheduler; static LockstepScheduler *lockstep_scheduler = new LockstepScheduler();
#endif #endif
@@ -156,7 +156,7 @@ hrt_abstime hrt_absolute_time()
{ {
#if defined(ENABLE_LOCKSTEP_SCHEDULER) #if defined(ENABLE_LOCKSTEP_SCHEDULER)
// optimized case (avoid ts_to_abstime) if lockstep scheduler is used // optimized case (avoid ts_to_abstime) if lockstep scheduler is used
const uint64_t abstime = lockstep_scheduler.get_absolute_time(); const uint64_t abstime = lockstep_scheduler->get_absolute_time();
return abstime - px4_timestart_monotonic; return abstime - px4_timestart_monotonic;
#else // defined(ENABLE_LOCKSTEP_SCHEDULER) #else // defined(ENABLE_LOCKSTEP_SCHEDULER)
struct timespec ts; struct timespec ts;
@@ -539,7 +539,7 @@ int px4_clock_gettime(clockid_t clk_id, struct timespec *tp)
{ {
if (clk_id == CLOCK_MONOTONIC) { if (clk_id == CLOCK_MONOTONIC) {
#if defined(ENABLE_LOCKSTEP_SCHEDULER) #if defined(ENABLE_LOCKSTEP_SCHEDULER)
const uint64_t abstime = lockstep_scheduler.get_absolute_time(); const uint64_t abstime = lockstep_scheduler->get_absolute_time();
abstime_to_ts(tp, abstime - px4_timestart_monotonic); abstime_to_ts(tp, abstime - px4_timestart_monotonic);
return 0; return 0;
#else // defined(ENABLE_LOCKSTEP_SCHEDULER) #else // defined(ENABLE_LOCKSTEP_SCHEDULER)
@@ -571,7 +571,7 @@ int px4_clock_settime(clockid_t clk_id, const struct timespec *ts)
px4_timestart_monotonic = time_us; px4_timestart_monotonic = time_us;
} }
lockstep_scheduler.set_absolute_time(time_us); lockstep_scheduler->set_absolute_time(time_us);
return 0; return 0;
} }
} }
@@ -585,9 +585,9 @@ int px4_usleep(useconds_t usec)
return system_usleep(usec); return system_usleep(usec);
} }
const uint64_t time_finished = lockstep_scheduler.get_absolute_time() + usec; const uint64_t time_finished = lockstep_scheduler->get_absolute_time() + usec;
return lockstep_scheduler.usleep_until(time_finished); return lockstep_scheduler->usleep_until(time_finished);
} }
unsigned int px4_sleep(unsigned int seconds) unsigned int px4_sleep(unsigned int seconds)
@@ -598,10 +598,10 @@ unsigned int px4_sleep(unsigned int seconds)
return system_sleep(seconds); return system_sleep(seconds);
} }
const uint64_t time_finished = lockstep_scheduler.get_absolute_time() + const uint64_t time_finished = lockstep_scheduler->get_absolute_time() +
((uint64_t)seconds * 1000000); ((uint64_t)seconds * 1000000);
return lockstep_scheduler.usleep_until(time_finished); return lockstep_scheduler->usleep_until(time_finished);
} }
int px4_pthread_cond_timedwait(pthread_cond_t *cond, int px4_pthread_cond_timedwait(pthread_cond_t *cond,
@@ -610,6 +610,6 @@ int px4_pthread_cond_timedwait(pthread_cond_t *cond,
{ {
const uint64_t time_us = ts_to_abstime(ts); const uint64_t time_us = ts_to_abstime(ts);
const uint64_t scheduled = time_us + px4_timestart_monotonic; const uint64_t scheduled = time_us + px4_timestart_monotonic;
return lockstep_scheduler.cond_timedwait(cond, mutex, scheduled); return lockstep_scheduler->cond_timedwait(cond, mutex, scheduled);
} }
#endif #endif