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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_sim/PWMSim.cpp
+9 -8
View File
@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2012-2018 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
@@ -39,6 +39,8 @@
#include <uORB/Subscription.hpp>
#include <uORB/topics/parameter_update.h>
#include <px4_platform_common/sem.hpp>
PWMSim::PWMSim(bool hil_mode_enabled) :
CDev(PWM_OUTPUT0_DEVICE_PATH),
OutputModuleInterface(MODULE_NAME, px4::wq_configurations::hp_default)
@@ -56,6 +58,8 @@ PWMSim::PWMSim(bool hil_mode_enabled) :
void
PWMSim::Run()
{
SmartLock lock_guard(_lock);
if (should_exit()) {
ScheduleClear();
_mixing_output.unregister();
@@ -120,9 +124,9 @@ PWMSim::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS], unsigne
int
PWMSim::ioctl(device::file_t *filp, int cmd, unsigned long arg)
{
int ret = OK;
SmartLock lock_guard(_lock);
lock();
int ret = OK;
switch (cmd) {
case PWM_SERVO_ARM:
@@ -231,24 +235,21 @@ PWMSim::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);
break;
}
default:
ret = -ENOTTY;
break;
}
unlock();
return ret;
}