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mavlink_mission: remove locking mechanism

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This commit is contained in:
Igor Mišić 2023-05-10 13:23:22 +02:00 committed by Beat Küng
parent d5ecfe0efe
commit 55d8adb35b
2 changed files with 2 additions and 52 deletions
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53
src/modules/mavlink/mavlink_mission.cpp
View File

@ -83,22 +83,10 @@ MavlinkMissionManager::init_offboard_mission()
if (!_dataman_init) {
_dataman_init = true;
/* lock MISSION_STATE item */
bool success_lock = _dataman_client.lockSync(DM_KEY_MISSION_STATE);
if (!success_lock) {
PX4_ERR("DM_KEY_MISSION_STATE lock failed");
}
mission_s mission_state;
bool success = _dataman_client.readSync(DM_KEY_MISSION_STATE, 0, reinterpret_cast<uint8_t *>(&mission_state),
sizeof(mission_s));
/* unlock MISSION_STATE item */
if (success_lock) {
_dataman_client.unlockSync(DM_KEY_MISSION_STATE);
}
if (success) {
_dataman_id = (dm_item_t)mission_state.dataman_id;
_count[MAV_MISSION_TYPE_MISSION] = mission_state.count;
@ -162,21 +150,9 @@ MavlinkMissionManager::update_active_mission(dm_item_t dataman_id, uint16_t coun
/* update mission state in dataman */
/* lock MISSION_STATE item */
bool success_lock = _dataman_client.lockSync(DM_KEY_MISSION_STATE);
if (!success_lock) {
PX4_ERR("DM_KEY_MISSION_STATE lock failed");
}
bool success = _dataman_client.writeSync(DM_KEY_MISSION_STATE, 0, reinterpret_cast<uint8_t *>(&mission),
sizeof(mission_s));
/* unlock MISSION_STATE item */
if (success_lock) {
_dataman_client.unlockSync(DM_KEY_MISSION_STATE);
}
if (success) {
/* update active mission state */
_dataman_id = dataman_id;
@ -960,21 +936,6 @@ MavlinkMissionManager::handle_mission_count(const mavlink_message_t *msg)
DM_KEY_WAYPOINTS_OFFBOARD_0); // use inactive storage for transmission
_transfer_current_seq = -1;
if (_mission_type == MAV_MISSION_TYPE_FENCE) {
// We're about to write new geofence items, so take the lock. It will be released when
// switching back to idle
PX4_DEBUG("locking fence dataman items");
bool success = _dataman_client.lockSync(DM_KEY_FENCE_POINTS);
if (success) {
_geofence_locked = true;
} else {
PX4_ERR("locking failed (%i)", errno);
}
}
} else if (_state == MAVLINK_WPM_STATE_GETLIST) {
_time_last_recv = hrt_absolute_time();
@ -1010,15 +971,6 @@ MavlinkMissionManager::handle_mission_count(const mavlink_message_t *msg)
void
MavlinkMissionManager::switch_to_idle_state()
{
// when switching to idle, we *always* check if the lock was held and release it.
// This is to ensure we don't end up in a state where we forget to release it.
if (_geofence_locked) {
if (_dataman_client.unlockSync(DM_KEY_FENCE_POINTS)) {
_geofence_locked = false;
PX4_DEBUG("unlocking geofence");
}
}
_state = MAVLINK_WPM_STATE_IDLE;
}
@ -1133,9 +1085,8 @@ MavlinkMissionManager::handle_mission_item_both(const mavlink_message_t *msg)
check_failed = true;
} else {
dm_item_t dm_item = _transfer_dataman_id;
write_failed = !_dataman_client.writeSync(dm_item, wp.seq, reinterpret_cast<uint8_t *>(&mission_item),
write_failed = !_dataman_client.writeSync(_transfer_dataman_id, wp.seq, reinterpret_cast<uint8_t *>(&mission_item),
sizeof(struct mission_item_s));
if (!write_failed) {
@ -1186,7 +1137,7 @@ MavlinkMissionManager::handle_mission_item_both(const mavlink_message_t *msg)
mission_safe_point.alt = mission_item.altitude;
mission_safe_point.frame = mission_item.frame;
write_failed = !_dataman_client.writeSync(DM_KEY_SAFE_POINTS, wp.seq + 1,
reinterpret_cast<uint8_t *>(&mission_safe_point), sizeof(mission_safe_point_s));
reinterpret_cast<uint8_t *>(&mission_safe_point), sizeof(mission_safe_point_s), 2_s);
}
break;

1
src/modules/mavlink/mavlink_mission.h
View File

@ -134,7 +134,6 @@ private:
static uint16_t _geofence_update_counter;
static uint16_t _safepoint_update_counter;
bool _geofence_locked{false}; ///< if true, we currently hold the dataman lock for the geofence (transaction in progress)
MavlinkRateLimiter _slow_rate_limiter{100 * 1000}; ///< Rate limit sending of the current WP sequence to 10 Hz