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geofence: lock geofence items during a write transfers

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- avoids race conditions when geofence data is updated in flight. During
  a transfer, the geofence module will not check for violations, which
  is done with the new dm_trylock method.
- there is an update counter stored in dataman, and for each write
  transaction this is increased, so that the geofence module can reload
  the data upon data change (after it's unlocked).
- single dm item updates are atomic already, so resetting the polygons
  to 0 does not need locking.
This commit is contained in:
Beat Küng
2017-08-04 18:08:51 +02:00
committed by Lorenz Meier
parent cb580c5268
commit 6d85a3c4e4
5 changed files with 100 additions and 10 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/mavlink/mavlink_mission.cpp
+44 -8
View File
@@ -61,6 +61,7 @@ int MavlinkMissionManager::_current_seq = 0;
int MavlinkMissionManager::_last_reached = -1;
bool MavlinkMissionManager::_transfer_in_progress = false;
constexpr unsigned MavlinkMissionManager::MAX_COUNT[];
uint16_t MavlinkMissionManager::_geofence_update_counter = 0;
#define CHECK_SYSID_COMPID_MISSION(_msg) (_msg.target_system == mavlink_system.sysid && \
((_msg.target_component == mavlink_system.compid) || \
@@ -87,6 +88,7 @@ MavlinkMissionManager::MavlinkMissionManager(Mavlink *mavlink) :
_offboard_mission_sub(-1),
_mission_result_sub(-1),
_offboard_mission_pub(nullptr),
_geofence_locked(false),
_slow_rate_limiter(100 * 1000), // Rate limit sending of the current WP sequence to 10 Hz
_verbose(mavlink->verbose()),
_mavlink(mavlink)
@@ -138,6 +140,7 @@ MavlinkMissionManager::load_geofence_stats()
if (ret == sizeof(mission_stats_entry_s)) {
_count[(uint8_t)MAV_MISSION_TYPE_FENCE] = stats.num_items;
_geofence_update_counter = stats.update_counter;
}
return ret;
@@ -204,6 +207,7 @@ MavlinkMissionManager::update_geofence_count(unsigned count)
{
mission_stats_entry_s stats;
stats.num_items = count;
stats.update_counter = ++_geofence_update_counter; // this makes sure navigator will reload the fence data
/* update stats in dataman */
int res = dm_write(DM_KEY_FENCE_POINTS, 0, DM_PERSIST_POWER_ON_RESET, &stats, sizeof(mission_stats_entry_s));
@@ -546,7 +550,7 @@ MavlinkMissionManager::send(const hrt_abstime now)
if (_verbose) { PX4_INFO("WPM: Last operation (state=%u) timed out, changing state to MAVLINK_WPM_STATE_IDLE", _state); }
_state = MAVLINK_WPM_STATE_IDLE;
switch_to_idle_state();
// since we are giving up, reset this state also, so another request can be started.
_transfer_in_progress = false;
@@ -625,7 +629,7 @@ MavlinkMissionManager::handle_mission_ack(const mavlink_message_t *msg)
if (_verbose) { PX4_ERR("WPM: MISSION_ACK ERROR: not all items sent, switch to state IDLE anyway"); }
}
_state = MAVLINK_WPM_STATE_IDLE;
switch_to_idle_state();
} else if (_state == MAVLINK_WPM_STATE_GETLIST) {
@@ -818,7 +822,7 @@ MavlinkMissionManager::handle_mission_request_both(const mavlink_message_t *msg)
if (_verbose) { PX4_ERR("WPM: MISSION_ITEM_REQUEST(_INT) ERROR: seq %u from ID %u unexpected, must be %i", wpr.seq, msg->sysid, _transfer_seq - 1); }
}
_state = MAVLINK_WPM_STATE_IDLE;
switch_to_idle_state();
send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ERROR);
_mavlink->send_statustext_critical("WPM: REJ. CMD: Req. WP was unexpected");
@@ -832,7 +836,7 @@ MavlinkMissionManager::handle_mission_request_both(const mavlink_message_t *msg)
} else {
if (_verbose) { PX4_ERR("WPM: MISSION_ITEM_REQUEST(_INT) ERROR: seq %u out of bound [%u, %u]", (unsigned)wpr.seq, (unsigned)wpr.seq, (unsigned)current_item_count() - 1); }
_state = MAVLINK_WPM_STATE_IDLE;
switch_to_idle_state();
send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ERROR);
_mavlink->send_statustext_critical("WPM: REJ. CMD: Req. WP was unexpected");
@@ -922,6 +926,21 @@ MavlinkMissionManager::handle_mission_count(const mavlink_message_t *msg)
_transfer_dataman_id = _dataman_id == 0 ? 1 : 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
if (_verbose) { PX4_INFO("locking fence dataman items"); }
int ret = dm_lock(DM_KEY_FENCE_POINTS);
if (ret == 0) {
_geofence_locked = true;
} else {
PX4_ERR("locking failed (%i)", errno);
}
}
} else if (_state == MAVLINK_WPM_STATE_GETLIST) {
_time_last_recv = hrt_absolute_time();
@@ -947,6 +966,21 @@ 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) {
dm_unlock(DM_KEY_FENCE_POINTS);
_geofence_locked = false;
if (_verbose) { PX4_INFO("unlocking geofence"); }
}
_state = MAVLINK_WPM_STATE_IDLE;
}
void
MavlinkMissionManager::handle_mission_item(const mavlink_message_t *msg)
@@ -1020,7 +1054,7 @@ MavlinkMissionManager::handle_mission_item_both(const mavlink_message_t *msg)
_mavlink->send_statustext_critical("IGN MISSION_ITEM: Busy");
send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, ret);
_state = MAVLINK_WPM_STATE_IDLE;
switch_to_idle_state();
_transfer_in_progress = false;
return;
}
@@ -1101,7 +1135,7 @@ MavlinkMissionManager::handle_mission_item_both(const mavlink_message_t *msg)
_mavlink->send_statustext_critical("Unable to write on micro SD");
}
_state = MAVLINK_WPM_STATE_IDLE;
switch_to_idle_state();
_transfer_in_progress = false;
return;
}
@@ -1119,8 +1153,6 @@ MavlinkMissionManager::handle_mission_item_both(const mavlink_message_t *msg)
/* got all new mission items successfully */
if (_verbose) { PX4_INFO("WPM: MISSION_ITEM got all %u items, current_seq=%u, changing state to MAVLINK_WPM_STATE_IDLE", _transfer_count, _transfer_current_seq); }
_state = MAVLINK_WPM_STATE_IDLE;
ret = 0;
switch (_mission_type) {
@@ -1141,6 +1173,10 @@ MavlinkMissionManager::handle_mission_item_both(const mavlink_message_t *msg)
break;
}
// Note: the switch to idle needs to happen after update_geofence_count is called, for proper unlocking order
switch_to_idle_state();
if (ret == PX4_OK) {
send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ACCEPTED);
src/modules/mavlink/mavlink_mission.h
+7
View File
@@ -127,6 +127,9 @@ private:
int _mission_result_sub;
orb_advert_t _offboard_mission_pub;
static uint16_t _geofence_update_counter;
bool _geofence_locked; ///< if true, we currently hold the dm_lock for the geofence (transaction in progress)
MavlinkRateLimiter _slow_rate_limiter;
bool _verbose;
@@ -236,4 +239,8 @@ private:
int format_mavlink_mission_item(const struct mission_item_s *mission_item,
mavlink_mission_item_t *mavlink_mission_item);
/**
* set _state to idle (and do necessary cleanup)
*/
void switch_to_idle_state();
};