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dataman: fix invalid use of px4_sem_timedwait

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px4_sem_timedwait expects an absolute time (from CLOCK_REALTIME), but a
relative time was provided.

This is only relevant if FLASH_BASED_DATAMAN is set (only on Intel aero).
This commit is contained in:
Beat Küng
2019-10-16 11:40:27 +02:00
committed by Julian Oes
parent bde36f0f4a
commit 884621415d
1 changed files with 18 additions and 20 deletions
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src/modules/dataman/dataman.cpp
+18 -20
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@@ -162,7 +162,7 @@ static struct {
uint8_t *data;
uint8_t *data_end;
/* sync above with RAM backend */
hrt_abstime flush_timeout_usec;
timespec flush_timeout;
} ram_flash;
#endif
};
@@ -540,7 +540,15 @@ _file_write(dm_item_t item, unsigned index, dm_persitence_t persistence, const v
static void
_ram_flash_update_flush_timeout()
{
dm_operations_data.ram_flash.flush_timeout_usec = hrt_absolute_time() + RAM_FLASH_FLUSH_TIMEOUT_USEC;
timespec &abstime = dm_operations_data.ram_flash.flush_timeout;
if (clock_gettime(CLOCK_REALTIME, &abstime) == 0) {
const unsigned billion = 1000 * 1000 * 1000;
uint64_t nsecs = abstime.tv_nsec + (uint64_t)RAM_FLASH_FLUSH_TIMEOUT_USEC * 1000;
abstime.tv_sec += nsecs / billion;
nsecs -= (nsecs / billion) * billion;
abstime.tv_nsec = nsecs;
}
}
static ssize_t
@@ -1009,10 +1017,11 @@ static void
_ram_flash_flush()
{
/*
* reseting flush_timeout_usec even in errors cases to avoid looping
* reseting flush_timeout even in errors cases to avoid looping
* forever in case of flash failure.
*/
dm_operations_data.ram_flash.flush_timeout_usec = 0;
dm_operations_data.ram_flash.flush_timeout.tv_nsec = 0;
dm_operations_data.ram_flash.flush_timeout.tv_sec = 0;
ssize_t ret = up_progmem_getpage(k_dataman_flash_sector->address);
ret = up_progmem_eraseblock(ret);
@@ -1034,7 +1043,7 @@ _ram_flash_flush()
static void
_ram_flash_shutdown()
{
if (dm_operations_data.ram_flash.flush_timeout_usec) {
if (dm_operations_data.ram_flash.flush_timeout.tv_sec) {
_ram_flash_flush();
}
@@ -1044,27 +1053,16 @@ _ram_flash_shutdown()
static int
_ram_flash_wait(px4_sem_t *sem)
{
if (!dm_operations_data.ram_flash.flush_timeout_usec) {
if (!dm_operations_data.ram_flash.flush_timeout.tv_sec) {
px4_sem_wait(sem);
return 0;
}
const uint64_t now = hrt_absolute_time();
int ret;
if (now >= dm_operations_data.ram_flash.flush_timeout_usec) {
_ram_flash_flush();
return 0;
}
while ((ret = px4_sem_timedwait(sem, &dm_operations_data.ram_flash.flush_timeout)) == -1 && errno == EINTR);
const uint64_t diff = dm_operations_data.ram_flash.flush_timeout_usec - now;
struct timespec abstime;
abstime.tv_sec = diff / USEC_PER_SEC;
// FIXME: this could be made more performant.
abstime.tv_nsec = (diff % USEC_PER_SEC) * NSEC_PER_USEC;
px4_sem_timedwait(sem, &abstime);
if (hrt_absolute_time() < dm_operations_data.ram_flash.flush_timeout_usec) {
if (ret == 0) {
/* a work was queued before timeout */
return 0;
}