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Fix sdlog2 race between copy and store

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This commit is contained in:
Lorenz Meier
2016-04-28 12:20:16 +02:00
parent e42b1dc948
commit d67ff7564f
1 changed files with 8 additions and 2 deletions
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src/modules/sdlog2/sdlog2.c
+8 -2
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@@ -1405,7 +1405,8 @@ int sdlog2_thread_main(int argc, char *argv[])
continue;
}
// copy topic always
// copy topic always to mark them as read
// so poll doesn't return immediately
if (record_replay_log) {
orb_copy(ORB_ID(ekf2_replay), subs.replay_sub, &buf.replay);
} else {
@@ -1471,6 +1472,8 @@ int sdlog2_thread_main(int argc, char *argv[])
/* --- EKF2 REPLAY --- */
if(record_replay_log) {
// we poll on the replay topic so we know that it was updated
// but we need to copy it again since we are re-using the buffer.
orb_copy(ORB_ID(ekf2_replay), subs.replay_sub, &buf.replay);
log_msg.msg_type = LOG_RPL1_MSG;
log_msg.body.log_RPL1.time_ref = buf.replay.time_ref;
log_msg.body.log_RPL1.gyro_integral_dt = buf.replay.gyro_integral_dt;
@@ -1531,7 +1534,10 @@ int sdlog2_thread_main(int argc, char *argv[])
} else { /* !record_replay_log */
/* we poll on sensor combined, so we know it has updated just now */
// we poll on sensor combined, so we know it has updated just now
// but we need to copy it again because we are re-using the buffer
orb_copy(ORB_ID(sensor_combined), subs.sensor_sub, &buf.sensor);
for (unsigned i = 0; i < 3; i++) {
bool write_IMU = false;
bool write_SENS = false;