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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/uORBDeviceNode.cpp
+15 -13
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@@ -57,7 +57,7 @@ uORB::DeviceNode::DeviceNode(const struct orb_metadata *meta, const uint8_t inst
uORB::DeviceNode::~DeviceNode()
{
free(_data);
free(_data.load());
const char *devname = get_devname();
@@ -148,7 +148,7 @@ uORB::DeviceNode::write(cdev::file_t *filp, const char *buffer, size_t buflen)
*
* Note that filp will usually be NULL.
*/
if (nullptr == _data) {
if (nullptr == _data.load()) {
#ifdef __PX4_NUTTX
@@ -158,13 +158,15 @@ uORB::DeviceNode::write(cdev::file_t *filp, const char *buffer, size_t buflen)
lock();
/* re-check size */
if (nullptr == _data) {
if (nullptr == _data.load()) {
const size_t data_size = _meta->o_size * _meta->o_queue;
_data = (uint8_t *) px4_cache_aligned_alloc(data_size);
uint8_t *data = (uint8_t *) px4_cache_aligned_alloc(data_size);
if (_data) {
memset(_data, 0, data_size);
if (data) {
memset(data, 0, data_size);
}
_data.store(data);
}
unlock();
@@ -175,7 +177,7 @@ uORB::DeviceNode::write(cdev::file_t *filp, const char *buffer, size_t buflen)
#endif /* __PX4_NUTTX */
/* failed or could not allocate */
if (nullptr == _data) {
if (nullptr == _data.load()) {
return -ENOMEM;
}
}
@@ -190,7 +192,7 @@ uORB::DeviceNode::write(cdev::file_t *filp, const char *buffer, size_t buflen)
/* wrap-around happens after ~49 days, assuming a publisher rate of 1 kHz */
unsigned generation = _generation.fetch_add(1);
memcpy(_data + (_meta->o_size * (generation % _meta->o_queue)), buffer, _meta->o_size);
memcpy(_data.load() + (_meta->o_size * (generation % _meta->o_queue)), buffer, _meta->o_size);
// callbacks
for (auto item : _callbacks) {
@@ -232,7 +234,7 @@ uORB::DeviceNode::ioctl(cdev::file_t *filp, int cmd, unsigned long arg)
return PX4_OK;
case ORBIOCISADVERTISED:
*(unsigned long *)arg = _advertised;
*(unsigned long *)arg = _advertised.load();
return PX4_OK;
@@ -310,7 +312,7 @@ int uORB::DeviceNode::unadvertise(orb_advert_t handle)
* of subscribers and publishers. But we also do not have a leak since future
* publishers reuse the same DeviceNode object.
*/
devnode->_advertised = false;
devnode->_advertised.store(false);
return PX4_OK;
}
@@ -347,7 +349,7 @@ uORB::DeviceNode::poll_notify_one(px4_pollfd_struct_t *fds, px4_pollevent_t even
bool
uORB::DeviceNode::print_statistics(int max_topic_length)
{
if (!_advertised) {
if (!_advertised.load()) {
return false;
}
@@ -411,10 +413,10 @@ int16_t uORB::DeviceNode::process_add_subscription()
// send the data to the remote entity.
uORBCommunicator::IChannel *ch = uORB::Manager::get_instance()->get_uorb_communicator();
if (_data != nullptr && ch != nullptr) { // _data will not be null if there is a publisher.
if (_data.load() != nullptr && ch != nullptr) { // _data will not be null if there is a publisher.
// Only send the most recent data to initialize the remote end.
if (_data_valid) {
ch->send_message(_meta->o_name, _meta->o_size, _data + (_meta->o_size * ((_generation.load() - 1) % _meta->o_queue)));
ch->send_message(_meta->o_name, _meta->o_size, _data.load() + (_meta->o_size * ((_generation.load() - 1) % _meta->o_queue)));
}
}