fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-07-14 13:20:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

Fixes shared memory locking bug and eliminates the need for an AppsProm driver to reserve a shared memory region.

Browse Source
This commit is contained in:
jwilson
2016-06-20 16:01:32 -07:00
committed by Julian Oes
parent 6739ae9dfc
commit a73ac821ab
9 changed files with 197 additions and 239 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/systemlib/param/param_shmem.c
+8 -16
View File
@@ -109,7 +109,7 @@ const int bits_per_allocation_unit = (sizeof(*param_changed_storage) * 8);
//#define ENABLE_SHMEM_DEBUG
extern int get_shmem_lock(const char *caller_file_name, int caller_line_number);
extern void release_shmem_lock(void);
extern void release_shmem_lock(const char *caller_file_name, int caller_line_number);
struct param_wbuf_s *param_find_changed(param_t param);
@@ -828,18 +828,9 @@ param_save_default(void)
{
int res = OK;
int fd = -1;
bool is_locked = false;
const char *filename = param_get_default_file();
if (get_shmem_lock(__FILE__, __LINE__) != 0) {
PX4_ERR("Could not get shmem lock");
res = ERROR;
goto exit;
}
is_locked = true;
fd = PARAM_OPEN(filename, O_WRONLY | O_CREAT, PX4_O_MODE_666);
if (fd < 0) {
@@ -869,10 +860,6 @@ param_save_default(void)
exit:
if (is_locked) {
release_shmem_lock();
}
if (fd >= 0) {
close(fd);
}
@@ -923,7 +910,9 @@ param_load_default_no_notify(void)
int fd_load = open(param_get_default_file(), O_RDONLY);
if (fd_load < 0) {
release_shmem_lock();
#ifdef __PX4_QURT
release_shmem_lock(__FILE__, __LINE__);
#endif
/* no parameter file is OK, otherwise this is an error */
if (errno != ENOENT) {
@@ -1241,8 +1230,10 @@ uint32_t param_hash_check(void)
void init_params(void)
{
#ifdef __PX4_QURT
//copy params to shared memory
init_shared_memory();
#endif
/*load params automatically*/
#ifdef __PX4_POSIX
@@ -1250,6 +1241,7 @@ void init_params(void)
#endif
param_import_done = 1;
#ifdef __PX4_QURT
copy_params_to_shmem(param_info_base);
@@ -1260,6 +1252,6 @@ void init_params(void)
(unsigned char *)&shmem_info_p->krait_changed_index - (unsigned char *)shmem_info_p,
(unsigned char *)&shmem_info_p->adsp_changed_index - (unsigned char *)shmem_info_p);
#endif
#endif
}