uORB: fix TSAN issues using atomics

platforms/common/uORB/uORB_tests/uORBTest_UnitTest.cpp

@@ -144,7 +144,7 @@ int uORBTest::UnitTest::pubsublatency_main()
 	PX4_INFO("max:     %3i us", timing_max);
 	PX4_INFO("missed topic updates: %i", num_missed);
 
-	pubsubtest_passed = true;
+	pubsubtest_passed.store(true);
 
 #if defined(CONFIG_ARCH_BOARD_PX4_SITL)
 	// relaxed on SITL (non-realtime)
@@ -154,13 +154,13 @@ int uORBTest::UnitTest::pubsublatency_main()
 #endif
 
 	if (mean > kMaxMeanUs) {
-		pubsubtest_res = PX4_ERROR;
+		pubsubtest_res.store(PX4_ERROR);
 
 	} else {
-		pubsubtest_res = PX4_OK;
+		pubsubtest_res.store(PX4_OK);
 	}
 
-	return pubsubtest_res;
+	return pubsubtest_res.load();
 }
 
 int uORBTest::UnitTest::test()
@@ -412,7 +412,7 @@ int uORBTest::UnitTest::pub_test_multi2_main()
 		pub = orb_advertise_multi(ORB_ID(orb_test_medium_multi), &data_topic, &idx);
 
 		if (idx != i) {
-			_thread_should_exit = true;
+			_thread_should_exit.store(true);
 			PX4_ERR("Got wrong instance! should be: %i, but is %i", i, idx);
 			return -1;
 		}
@@ -440,7 +440,7 @@ int uORBTest::UnitTest::pub_test_multi2_main()
 	}
 
 	px4_usleep(100 * 1000);
-	_thread_should_exit = true;
+	_thread_should_exit.store(true);
 
 	for (int i = 0; i < num_instances; ++i) {
 		orb_unadvertise(orb_pub[i]);
@@ -454,7 +454,7 @@ int uORBTest::UnitTest::test_multi2()
 	test_note("Testing multi-topic 2 test (queue simulation)");
 	//test: first subscribe, then advertise
 
-	_thread_should_exit = false;
+	_thread_should_exit.store(false);
 	const int num_instances = 3;
 	int orb_data_fd[num_instances] {-1, -1, -1};
 	int orb_data_next = 0;
@@ -478,7 +478,7 @@ int uORBTest::UnitTest::test_multi2()
 
 	hrt_abstime last_time[num_instances] {};
 
-	while (!_thread_should_exit) {
+	while (!_thread_should_exit.load()) {
 
 		px4_usleep(1000);
 
@@ -945,7 +945,7 @@ int uORBTest::UnitTest::pub_test_queue_main()
 	const int queue_size = orb_get_queue_size(ORB_ID(orb_test_medium_queue_poll));
 
 	if ((ptopic = orb_advertise(ORB_ID(orb_test_medium_queue_poll), &t)) == nullptr) {
-		_thread_should_exit = true;
+		_thread_should_exit.store(true);
 		return test_fail("advertise failed: %d", errno);
 	}
 
@@ -968,9 +968,9 @@ int uORBTest::UnitTest::pub_test_queue_main()
 		px4_usleep(20 * 1000); //give subscriber a chance to catch up
 	}
 
-	_num_messages_sent = t.val;
+	_num_messages_sent.store(t.val);
 	px4_usleep(100 * 1000);
-	_thread_should_exit = true;
+	_thread_should_exit.store(true);
 	orb_unadvertise(ptopic);
 
 	return 0;
@@ -987,7 +987,7 @@ int uORBTest::UnitTest::test_queue_poll_notify()
 		return test_fail("subscribe failed: %d", errno);
 	}
 
-	_thread_should_exit = false;
+	_thread_should_exit.store(false);
 
 	char *const args[1] = { nullptr };
 	int pubsub_task = px4_task_spawn_cmd("uorb_test_queue",
@@ -1006,12 +1006,12 @@ int uORBTest::UnitTest::test_queue_poll_notify()
 	fds[0].fd = sfd;
 	fds[0].events = POLLIN;
 
-	while (!_thread_should_exit) {
+	while (!_thread_should_exit.load()) {
 
 		int poll_ret = px4_poll(fds, 1, 500);
 
 		if (poll_ret == 0) {
-			if (_thread_should_exit) {
+			if (_thread_should_exit.load()) {
 				break;
 			}
 
@@ -1032,9 +1032,9 @@ int uORBTest::UnitTest::test_queue_poll_notify()
 		}
 	}
 
-	if (_num_messages_sent != next_expected_val) {
+	if (_num_messages_sent.load() != next_expected_val) {
 		return test_fail("number of sent and received messages mismatch (sent: %i, received: %i)",
-				 _num_messages_sent, next_expected_val);
+				 _num_messages_sent.load(), next_expected_val);
 	}
 
 	return test_note("PASS orb queuing (poll & notify), got %i messages", next_expected_val);
@@ -1056,7 +1056,7 @@ int uORBTest::UnitTest::latency_test(bool print)
 	char *const args[1] = { nullptr };
 
 	pubsubtest_print = print;
-	pubsubtest_passed = false;
+	pubsubtest_passed.store(false);
 
 	/* test pub / sub latency */
 
@@ -1071,7 +1071,7 @@ int uORBTest::UnitTest::latency_test(bool print)
 					     args);
 
 	/* give the test task some data */
-	while (!pubsubtest_passed) {
+	while (!pubsubtest_passed.load()) {
 		++t.val;
 		t.timestamp = hrt_absolute_time();
 
@@ -1089,7 +1089,7 @@ int uORBTest::UnitTest::latency_test(bool print)
 
 	orb_unadvertise(pfd0);
 
-	return pubsubtest_res;
+	return pubsubtest_res.load();
 }
 
 int uORBTest::UnitTest::test_fail(const char *fmt, ...)

platforms/common/uORB/uORB_tests/uORBTest_UnitTest.hpp

@@ -42,6 +42,7 @@
 #include <uORB/topics/orb_test_medium.h>
 #include <uORB/topics/orb_test_large.h>
 
+#include <px4_platform_common/atomic.h>
 #include <px4_platform_common/defines.h>
 #include <px4_platform_common/posix.h>
 #include <px4_platform_common/time.h>
@@ -87,11 +88,11 @@ private:
 	static int pub_test_multi2_entry(int argc, char *argv[]);
 	int pub_test_multi2_main();
 
-	volatile bool _thread_should_exit;
+	px4::atomic_bool _thread_should_exit{false};
 
-	bool pubsubtest_passed{false};
+	px4::atomic_bool pubsubtest_passed{false};
 	bool pubsubtest_print{false};
-	int pubsubtest_res = OK;
+	px4::atomic<int> pubsubtest_res{OK};
 
 	orb_advert_t _pfd[4] {}; ///< used for test_multi and test_multi_reversed
 
@@ -113,7 +114,7 @@ private:
 	static int pub_test_queue_entry(int argc, char *argv[]);
 	int pub_test_queue_main();
 	int test_queue_poll_notify();
-	volatile int _num_messages_sent = 0;
+	px4::atomic<int> _num_messages_sent{0};
 
 	int test_fail(const char *fmt, ...);
 	int test_note(const char *fmt, ...);