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Fix race in task create

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Lorenz Meier
2015-11-22 14:01:52 +01:00
parent 734ec9094e
commit 9c13e4c4be
1 changed files with 17 additions and 14 deletions
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src/platforms/posix/px4_layer/px4_posix_tasks.cpp
+17 -14
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@@ -110,7 +110,6 @@ px4_task_t px4_task_spawn_cmd(const char *name, int scheduler, int priority, int
unsigned long structsize; unsigned long structsize;
char *p = (char *)argv; char *p = (char *)argv;
pthread_t task = {};
pthread_attr_t attr; pthread_attr_t attr;
struct sched_param param = {}; struct sched_param param = {};
@@ -127,10 +126,9 @@ px4_task_t px4_task_spawn_cmd(const char *name, int scheduler, int priority, int
} }
structsize = sizeof(pthdata_t) + (argc + 1) * sizeof(char *); structsize = sizeof(pthdata_t) + (argc + 1) * sizeof(char *);
pthdata_t *taskdata;
// not safe to pass stack data to the thread creation // not safe to pass stack data to the thread creation
taskdata = (pthdata_t *)malloc(structsize + len); pthdata_t *taskdata = (pthdata_t *)malloc(structsize + len);
memset(taskdata, 0, structsize + len); memset(taskdata, 0, structsize + len);
offset = ((unsigned long)taskdata) + structsize; offset = ((unsigned long)taskdata) + structsize;
@@ -179,16 +177,30 @@ px4_task_t px4_task_spawn_cmd(const char *name, int scheduler, int priority, int
return (rv < 0) ? rv : -rv; return (rv < 0) ? rv : -rv;
} }
rv = pthread_create(&task, &attr, &entry_adapter, (void *) taskdata); pthread_mutex_lock(&task_mutex);
int taskid = 0;
for (i = 0; i < PX4_MAX_TASKS; ++i) {
if (taskmap[i].isused == false) {
taskmap[i].name = name;
taskmap[i].isused = true;
taskid = i;
break;
}
}
rv = pthread_create(&taskmap[taskid].pid, &attr, &entry_adapter, (void *) taskdata);
if (rv != 0) { if (rv != 0) {
if (rv == EPERM) { if (rv == EPERM) {
//printf("WARNING: NOT RUNING AS ROOT, UNABLE TO RUN REALTIME THREADS\n"); //printf("WARNING: NOT RUNING AS ROOT, UNABLE TO RUN REALTIME THREADS\n");
rv = pthread_create(&task, NULL, &entry_adapter, (void *) taskdata); rv = pthread_create(&taskmap[taskid].pid, NULL, &entry_adapter, (void *) taskdata);
if (rv != 0) { if (rv != 0) {
PX4_ERR("px4_task_spawn_cmd: failed to create thread %d %d\n", rv, errno); PX4_ERR("px4_task_spawn_cmd: failed to create thread %d %d\n", rv, errno);
taskmap[taskid].isused = false;
return (rv < 0) ? rv : -rv; return (rv < 0) ? rv : -rv;
} }
@@ -197,15 +209,6 @@ px4_task_t px4_task_spawn_cmd(const char *name, int scheduler, int priority, int
} }
} }
pthread_mutex_lock(&task_mutex);
for (i = 0; i < PX4_MAX_TASKS; ++i) {
if (taskmap[i].isused == false) {
taskmap[i].pid = task;
taskmap[i].name = name;
taskmap[i].isused = true;
break;
}
}
pthread_mutex_unlock(&task_mutex); pthread_mutex_unlock(&task_mutex);
if (i >= PX4_MAX_TASKS) { if (i >= PX4_MAX_TASKS) {