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uORB: fix TSAN issues using atomics

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This commit is contained in:
Julian Oes
2026-02-18 12:43:02 +13:00
parent 91e25df7c4
commit 22a32eaa55
13 changed files with 92 additions and 75 deletions
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platforms/common/uORB/SubscriptionInterval.cpp
+5 -3
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@@ -38,7 +38,9 @@ namespace uORB
bool SubscriptionInterval::updated()
{
if (advertised() && (hrt_elapsed_time(&_last_update) >= _interval_us)) {
hrt_abstime last_update = _last_update.load();
if (advertised() && (hrt_elapsed_time(&last_update) >= _interval_us)) {
return _subscription.updated();
}
@@ -62,10 +64,10 @@ bool SubscriptionInterval::copy(void *dst)
// make sure we don't set a timestamp before the timer started counting (now - _interval_us would wrap because it's unsigned)
if (now > _interval_us) {
// shift last update time forward, but don't let it get further behind than the interval
_last_update = math::constrain(_last_update + _interval_us, now - _interval_us, now);
_last_update.store(math::constrain(_last_update.load() + _interval_us, now - _interval_us, now));
} else {
_last_update = now;
_last_update.store(now);
}
return true;