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mavlink: stop_command fix potential dead lock

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This commit is contained in:
Daniel Agar
2021-12-08 16:00:42 -05:00
parent ca90c785e9
commit 08ee3208b2
1 changed files with 13 additions and 2 deletions
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src/modules/mavlink/mavlink_main.cpp
+13 -2
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@@ -3035,13 +3035,24 @@ Mavlink::stop_command(int argc, char *argv[])
if (inst != nullptr) {
/* set flag to stop thread and wait for all threads to finish */
if (inst->running() && !inst->should_exit()) {
inst->request_stop();
int iterations = 0;
while ((iterations < 1000) && inst->running()) {
inst->request_stop();
iterations++;
px4_usleep(1000);
}
if (inst->running()) {
PX4_ERR("unable to stop instance %d", inst->get_instance_id());
return PX4_ERROR;
}
LockGuard lg{mavlink_module_mutex};
for (int mavlink_instance = 0; mavlink_instance < MAVLINK_COMM_NUM_BUFFERS; mavlink_instance++) {
if (mavlink_module_instances[mavlink_instance] == inst) {
delete mavlink_module_instances[mavlink_instance];
delete inst;
mavlink_module_instances[mavlink_instance] = nullptr;
return PX4_OK;
}