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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/px4io/px4io.cpp
+7 -7
View File
@@ -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
@@ -379,8 +379,6 @@ PX4IO::~PX4IO()
bool PX4IO::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],
unsigned num_outputs, unsigned num_control_groups_updated)
{
SmartLock lock_guard(_lock);
if (!_test_fmu_fail) {
/* output to the servos */
io_reg_set(PX4IO_PAGE_DIRECT_PWM, 0, outputs, num_outputs);
@@ -391,6 +389,8 @@ bool PX4IO::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],
int PX4IO::init()
{
SmartLock lock_guard(_lock);
/* do regular cdev init */
int ret = CDev::init();
@@ -525,6 +525,8 @@ void PX4IO::updateFailsafe()
void PX4IO::Run()
{
SmartLock lock_guard(_lock);
if (should_exit()) {
ScheduleClear();
_mixing_output.unregister();
@@ -546,8 +548,6 @@ void PX4IO::Run()
_mixing_output.update();
}
SmartLock lock_guard(_lock);
if (hrt_elapsed_time(&_poll_last) >= 20_ms) {
/* run at 50 */
_poll_last = hrt_absolute_time();
@@ -1698,7 +1698,7 @@ int PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
case MIXERIOCRESET:
PX4_DEBUG("MIXERIOCRESET");
_mixing_output.resetMixerThreadSafe();
_mixing_output.resetMixer();
break;
case MIXERIOCLOADBUF: {
@@ -1706,7 +1706,7 @@ int PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
const char *buf = (const char *)arg;
unsigned buflen = strlen(buf);
ret = _mixing_output.loadMixerThreadSafe(buf, buflen);
ret = _mixing_output.loadMixer(buf, buflen);
break;
}