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dataman: remove locking mechanism

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This commit is contained in:
Igor Mišić
2023-07-24 13:10:31 +02:00
committed by Beat Küng
parent 3143f6bd0a
commit c40a38bd88
8 changed files with 183 additions and 862 deletions
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src/modules/dataman/dataman.cpp
+20 -81
View File
@@ -140,10 +140,6 @@ static constexpr size_t g_per_item_size_with_hdr[DM_KEY_NUM_KEYS] = {
/* Table of offset for index 0 of each item type */
static unsigned int g_key_offsets[DM_KEY_NUM_KEYS];
/* Item type lock for dataman client id*/
static uint8_t g_item_locks[DM_KEY_NUM_KEYS];
constexpr uint8_t NOT_LOCKED = 0; // dataman client id reserved for unlock state
static uint8_t dataman_clients_count = 1;
static perf_counter_t _dm_read_perf{nullptr};
@@ -633,10 +629,6 @@ task_main(int argc, char *argv[])
g_func_counts[i] = 0;
}
for (uint32_t i = 0; i < DM_KEY_NUM_KEYS; i++) {
g_item_locks[i] = false;
}
g_task_should_exit = false;
uORB::Publication<dataman_response_s> dataman_response_pub{ORB_ID(dataman_response)};
@@ -704,7 +696,7 @@ task_main(int argc, char *argv[])
switch (request.request_type) {
case DM_GET_ID:
if ((dataman_clients_count < UINT8_MAX) && (dataman_clients_count > NOT_LOCKED)) {
if (dataman_clients_count < UINT8_MAX) {
response.client_id = dataman_clients_count++;
/* Send the timestamp of the request over the data buffer so that the "dataman client"
* can distinguish whether the request was made by it. */
@@ -718,100 +710,51 @@ task_main(int argc, char *argv[])
case DM_WRITE:
if ((g_item_locks[request.item] == NOT_LOCKED) ||
(g_item_locks[request.item] == request.client_id)) {
g_func_counts[DM_WRITE]++;
result = g_dm_ops->write(static_cast<dm_item_t>(request.item), request.index,
&(request.data), request.data_length);
g_func_counts[DM_WRITE]++;
result = g_dm_ops->write(static_cast<dm_item_t>(request.item), request.index,
&(request.data), request.data_length);
if (result > 0) {
response.status = dataman_response_s::STATUS_SUCCESS;
} else if (result < 0) {
response.status = dataman_response_s::STATUS_FAILURE_WRITE_FAILED;
}
if (result > 0) {
response.status = dataman_response_s::STATUS_SUCCESS;
} else {
response.status = dataman_response_s::STATUS_ITEM_LOCKED;
response.status = dataman_response_s::STATUS_FAILURE_WRITE_FAILED;
}
break;
case DM_READ:
if ((g_item_locks[request.item] == NOT_LOCKED) ||
(g_item_locks[request.item] == request.client_id)) {
g_func_counts[DM_READ]++;
result = g_dm_ops->read(static_cast<dm_item_t>(request.item), request.index,
&(response.data), request.data_length);
g_func_counts[DM_READ]++;
result = g_dm_ops->read(static_cast<dm_item_t>(request.item), request.index,
&(response.data), request.data_length);
if (result > 0) {
response.status = dataman_response_s::STATUS_SUCCESS;
} else if (result < 0) {
response.status = dataman_response_s::STATUS_FAILURE_READ_FAILED;
}
if (result > 0) {
response.status = dataman_response_s::STATUS_SUCCESS;
} else {
response.status = dataman_response_s::STATUS_ITEM_LOCKED;
response.status = dataman_response_s::STATUS_FAILURE_READ_FAILED;
}
break;
case DM_CLEAR:
if ((g_item_locks[request.item] == NOT_LOCKED) ||
(g_item_locks[request.item] == request.client_id)) {
g_func_counts[DM_CLEAR]++;
result = g_dm_ops->clear(static_cast<dm_item_t>(request.item));
g_func_counts[DM_CLEAR]++;
result = g_dm_ops->clear(static_cast<dm_item_t>(request.item));
if (result == 0) {
response.status = dataman_response_s::STATUS_SUCCESS;
} else {
response.status = dataman_response_s::STATUS_FAILURE_CLEAR_FAILED;
}
} else {
response.status = dataman_response_s::STATUS_ITEM_LOCKED;
}
break;
case DM_LOCK:
if (g_item_locks[request.item] == NOT_LOCKED ||
(g_item_locks[request.item] == request.client_id)) {
g_func_counts[DM_LOCK]++;
g_item_locks[request.item] = request.client_id;
if (result == 0) {
response.status = dataman_response_s::STATUS_SUCCESS;
} else {
response.status = dataman_response_s::STATUS_ALREADY_LOCKED;
}
break;
case DM_UNLOCK:
if (g_item_locks[request.item] == request.client_id) {
g_func_counts[DM_UNLOCK]++;
g_item_locks[request.item] = NOT_LOCKED;
response.status = dataman_response_s::STATUS_SUCCESS;
} else if (g_item_locks[request.item] != request.client_id) {
response.status = dataman_response_s::STATUS_ALREADY_UNLOCKED;
response.status = dataman_response_s::STATUS_FAILURE_CLEAR_FAILED;
}
break;
default:
break;
}
response.timestamp = hrt_absolute_time();
@@ -875,8 +818,6 @@ status()
PX4_INFO("Writes %u", g_func_counts[DM_WRITE]);
PX4_INFO("Reads %u", g_func_counts[DM_READ]);
PX4_INFO("Clears %u", g_func_counts[DM_CLEAR]);
PX4_INFO("Locks %u", g_func_counts[DM_LOCK]);
PX4_INFO("Unlocks %u", g_func_counts[DM_LOCK]);
perf_print_counter(_dm_read_perf);
perf_print_counter(_dm_write_perf);
@@ -904,13 +845,11 @@ It is used to store structured data of different types: mission waypoints, missi
Each type has a specific type and a fixed maximum amount of storage items, so that fast random access is possible.
### Implementation
Reading and writing a single item is always atomic. If multiple items need to be read/modified atomically, there is
an additional lock per item type via `dm_lock`.
Reading and writing a single item is always atomic.
**DM_KEY_FENCE_POINTS** and **DM_KEY_SAFE_POINTS** items: the first data element is a `mission_stats_entry_s` struct,
which stores the number of items for these types. These items are always updated atomically in one transaction (from
the mavlink mission manager). During that time, navigator will try to acquire the geofence item lock, fail, and will not
check for geofence violations.
the mavlink mission manager).
)DESCR_STR");
src/modules/dataman/dataman.h
-2
View File
@@ -59,8 +59,6 @@ typedef enum {
DM_WRITE, ///< Write index for given item
DM_READ, ///< Read index for given item
DM_CLEAR, ///< Clear all index for given item
DM_LOCK, ///< Lock all items for given item types
DM_UNLOCK, ///< Unlock all items for given item types
DM_NUMBER_OF_FUNCS
} dm_function_t;