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QURT: Fix task management bugs

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Fix return value bug in px4_task_spawn_internal returning the arg-parsing
loop variable instead of the task index. Add pthread_attr_destroy calls
to prevent resource leaks on task creation failure, deletion, and exit.
Fix race condition in px4_task_delete by unlocking the mutex before
pthread_join and properly joining after pthread_cancel. Fix mutex unlock
placement in px4_task_exit to only unlock when the mutex was acquired.
This commit is contained in:
Eric Katzfey
2026-02-22 17:16:21 -07:00
committed by Eric Katzfey
parent 24833f41e5
commit 76fbac4dee
1 changed files with 15 additions and 4 deletions
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platforms/qurt/src/px4/tasks.cpp
+15 -4
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@@ -1,6 +1,6 @@
/**************************************************************************** /****************************************************************************
* *
* Copyright (C) 2022 ModalAI, Inc. All rights reserved. * Copyright (C) 2022-2026 ModalAI, Inc. All rights reserved.
* *
* Redistribution and use in source and binary forms, with or without * Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions * modification, are permitted provided that the following conditions
@@ -244,6 +244,7 @@ static px4_task_t px4_task_spawn_internal(const char *name, int priority, px4_ma
(void *) &taskmap[task_index]); (void *) &taskmap[task_index]);
if (retcode != PX4_OK) { if (retcode != PX4_OK) {
pthread_attr_destroy(&taskmap[task_index].attr);
pthread_mutex_unlock(&task_mutex); pthread_mutex_unlock(&task_mutex);
PX4_ERR("Couldn't create pthread %s", name); PX4_ERR("Couldn't create pthread %s", name);
return -1; return -1;
@@ -258,7 +259,7 @@ static px4_task_t px4_task_spawn_internal(const char *name, int priority, px4_ma
pthread_mutex_unlock(&task_mutex); pthread_mutex_unlock(&task_mutex);
return i; return task_index;
} }
px4_task_t px4_task_spawn_cmd(const char *name, int scheduler, int priority, int stack_size, px4_main_t entry, px4_task_t px4_task_spawn_cmd(const char *name, int scheduler, int priority, int stack_size, px4_main_t entry,
@@ -292,15 +293,25 @@ int px4_task_delete(px4_task_t id)
if (pthread_self() == pid) { if (pthread_self() == pid) {
pthread_join(pid, nullptr); pthread_join(pid, nullptr);
pthread_attr_destroy(&taskmap[id].attr);
taskmap[id].isused = false; taskmap[id].isused = false;
pthread_mutex_unlock(&task_mutex); pthread_mutex_unlock(&task_mutex);
pthread_exit(nullptr); pthread_exit(nullptr);
} else { } else {
rv = pthread_cancel(pid); rv = pthread_cancel(pid);
pthread_mutex_unlock(&task_mutex);
if (rv == 0) {
pthread_join(pid, nullptr);
}
pthread_mutex_lock(&task_mutex);
} }
pthread_attr_destroy(&taskmap[id].attr);
taskmap[id].isused = false; taskmap[id].isused = false;
pthread_mutex_unlock(&task_mutex);
return rv; return rv;
} }
@@ -315,6 +326,7 @@ void px4_task_exit(int ret)
for (i = 0; i < PX4_MAX_TASKS; ++i) { for (i = 0; i < PX4_MAX_TASKS; ++i) {
if (taskmap[i].tid == pid) { if (taskmap[i].tid == pid) {
pthread_mutex_lock(&task_mutex); pthread_mutex_lock(&task_mutex);
pthread_attr_destroy(&taskmap[i].attr);
taskmap[i].isused = false; taskmap[i].isused = false;
break; break;
} }
@@ -325,10 +337,9 @@ void px4_task_exit(int ret)
} else { } else {
PX4_DEBUG("px4_task_exit: %s", taskmap[i].name); PX4_DEBUG("px4_task_exit: %s", taskmap[i].name);
pthread_mutex_unlock(&task_mutex);
} }
pthread_mutex_unlock(&task_mutex);
pthread_exit((void *)(unsigned long)ret); pthread_exit((void *)(unsigned long)ret);
} }