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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/uORBManager.cpp
+11 -11
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@@ -52,25 +52,25 @@
pthread_mutex_t uORB::Manager::_communicator_mutex = PTHREAD_MUTEX_INITIALIZER;
#endif
uORB::Manager *uORB::Manager::_Instance = nullptr;
px4::atomic<uORB::Manager *> uORB::Manager::_Instance{nullptr};
bool uORB::Manager::initialize()
{
if (_Instance == nullptr) {
_Instance = new uORB::Manager();
if (_Instance.load() == nullptr) {
_Instance.store(new uORB::Manager());
}
#if defined(__PX4_NUTTX) && !defined(CONFIG_BUILD_FLAT) && defined(__KERNEL__)
px4_register_boardct_ioctl(_ORBIOCDEVBASE, orb_ioctl);
#endif
return _Instance != nullptr;
return _Instance.load() != nullptr;
}
bool uORB::Manager::terminate()
{
if (_Instance != nullptr) {
delete _Instance;
_Instance = nullptr;
if (_Instance.load() != nullptr) {
delete _Instance.load();
_Instance.store(nullptr);
return true;
}
@@ -277,14 +277,14 @@ orb_advert_t uORB::Manager::orb_advertise_multi(const struct orb_metadata *meta,
if (_publisher_rule.ignore_other_topics) {
if (!findTopic(_publisher_rule, meta->o_name)) {
PX4_DEBUG("not allowing %s to publish topic %s", prog_name, meta->o_name);
return (orb_advert_t)_Instance;
return (orb_advert_t)_Instance.load();
}
}
} else {
if (findTopic(_publisher_rule, meta->o_name)) {
PX4_DEBUG("not allowing %s to publish topic %s", prog_name, meta->o_name);
return (orb_advert_t)_Instance;
return (orb_advert_t)_Instance.load();
}
}
}
@@ -337,7 +337,7 @@ int uORB::Manager::orb_unadvertise(orb_advert_t handle)
{
#ifdef ORB_USE_PUBLISHER_RULES
if (handle == _Instance) {
if (handle == _Instance.load()) {
return PX4_OK; //pretend success
}
@@ -366,7 +366,7 @@ int uORB::Manager::orb_publish(const struct orb_metadata *meta, orb_advert_t han
{
#ifdef ORB_USE_PUBLISHER_RULES
if (handle == _Instance) {
if (handle == _Instance.load()) {
return PX4_OK; //pretend success
}