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output modules simplify locking for mixer reset and load

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- fixes the deadlock in px4io ioctl mixer reset
   - px4io Run() locks (CDev semaphore)
   - mixer load goes through px4io ioctl MIXERIOCRESET which calls MixingOutput::resetMixerThreadSafe()
   - MixingOutput::resetMixerThreadSafe() stores a Command::Type::resetMixer command in an atomic variable, schedules a work queue cycle, then sleep spins until the command is cleared
   - the execution of the cycle eventually calls back into PX4IO::updateOutputs(), which tries to lock (and waits forever)
This commit is contained in:
Daniel Agar
2022-04-19 08:52:17 +02:00
committed by Beat Küng
parent 5d95cc001f
commit 5e05d98fe2
11 changed files with 72 additions and 172 deletions
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src/drivers/pwm_out/PWMOut.cpp
+9 -7
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@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2012-2021 PX4 Development Team. All rights reserved.
* Copyright (c) 2012-2022 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -33,6 +33,8 @@
#include "PWMOut.hpp"
#include <px4_platform_common/sem.hpp>
pthread_mutex_t pwm_out_module_mutex = PTHREAD_MUTEX_INITIALIZER;
static px4::atomic<PWMOut *> _objects[PWM_OUT_MAX_INSTANCES] {};
static px4::atomic_bool _require_arming[PWM_OUT_MAX_INSTANCES] {};
@@ -437,6 +439,8 @@ bool PWMOut::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],
void PWMOut::Run()
{
SmartLock lock_guard(_lock);
if (should_exit()) {
ScheduleClear();
_mixing_output.unregister();
@@ -688,6 +692,8 @@ void PWMOut::update_params()
int PWMOut::ioctl(device::file_t *filp, int cmd, unsigned long arg)
{
SmartLock lock_guard(_lock);
int ret = pwm_ioctl(filp, cmd, arg);
/* if nobody wants it, let CDev have it */
@@ -704,8 +710,6 @@ int PWMOut::pwm_ioctl(device::file_t *filp, int cmd, unsigned long arg)
PX4_DEBUG("pwm_out%u: ioctl cmd: %d, arg: %ld", _instance, cmd, arg);
lock();
switch (cmd) {
case PWM_SERVO_ARM:
update_pwm_out_state(true);
@@ -912,14 +916,14 @@ int PWMOut::pwm_ioctl(device::file_t *filp, int cmd, unsigned long arg)
break;
case MIXERIOCRESET:
_mixing_output.resetMixerThreadSafe();
_mixing_output.resetMixer();
break;
case MIXERIOCLOADBUF: {
const char *buf = (const char *)arg;
unsigned buflen = strlen(buf);
ret = _mixing_output.loadMixerThreadSafe(buf, buflen);
ret = _mixing_output.loadMixer(buf, buflen);
update_params();
break;
@@ -930,8 +934,6 @@ int PWMOut::pwm_ioctl(device::file_t *filp, int cmd, unsigned long arg)
break;
}
unlock();
return ret;
}