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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/uavcan/uavcan_main.cpp
+5 -5
View File
@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2014-2017, 2021 PX4 Development Team. All rights reserved.
* Copyright (c) 2014-2022 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
@@ -946,7 +946,7 @@ UavcanNode::ioctl(file *filp, int cmd, unsigned long arg)
{
int ret = OK;
lock();
pthread_mutex_lock(&_node_mutex);
switch (cmd) {
case PWM_SERVO_SET_ARM_OK:
@@ -956,14 +956,14 @@ UavcanNode::ioctl(file *filp, int cmd, unsigned long arg)
break;
case MIXERIOCRESET:
_mixing_interface_esc.mixingOutput().resetMixerThreadSafe();
_mixing_interface_esc.mixingOutput().resetMixer();
break;
case MIXERIOCLOADBUF: {
const char *buf = (const char *)arg;
unsigned buflen = strlen(buf);
ret = _mixing_interface_esc.mixingOutput().loadMixerThreadSafe(buf, buflen);
ret = _mixing_interface_esc.mixingOutput().loadMixer(buf, buflen);
}
break;
@@ -972,7 +972,7 @@ UavcanNode::ioctl(file *filp, int cmd, unsigned long arg)
break;
}
unlock();
pthread_mutex_unlock(&_node_mutex);
if (ret == -ENOTTY) {
ret = CDev::ioctl(filp, cmd, arg);