From dde96dd4d7915246cfc6c67e07b1c4f09b31947f Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Beat=20K=C3=BCng?= <beat-kueng@gmx.net>
Date: Fri, 6 May 2016 13:12:50 +0200
Subject: [PATCH] logger: allocate _vehicle_status_sub & _parameter_update_sub
 on the logger thread

This makes sure the file descriptors are closed in the right thread.
Before on NuttX, when stopping the logger, orb unsubscribe failed due to
this.
---
 src/modules/logger/logger.cpp | 34 +++++++++++++++++++++++++---------
 src/modules/logger/logger.h   |  4 ++--
 2 files changed, 27 insertions(+), 11 deletions(-)

diff --git a/src/modules/logger/logger.cpp b/src/modules/logger/logger.cpp
index 558271f2fe..c7ee20a138 100644
--- a/src/modules/logger/logger.cpp
+++ b/src/modules/logger/logger.cpp
@@ -385,18 +385,31 @@ void Logger::run()
 	struct mallinfo alloc_info = {};
 #endif /* DBGPRINT */
 
-	PX4_WARN("logger started");
+	PX4_INFO("logger started");
 
 	int mkdir_ret = mkdir(LOG_ROOT, S_IRWXU | S_IRWXG | S_IRWXO);
 
 	if (mkdir_ret == 0) {
-		PX4_WARN("log root dir created: %s", LOG_ROOT);
+		PX4_INFO("log root dir created: %s", LOG_ROOT);
 
 	} else if (errno != EEXIST) {
-		PX4_WARN("failed creating log root dir: %s", LOG_ROOT);
+		PX4_ERR("failed creating log root dir: %s", LOG_ROOT);
 		return;
 	}
 
+	if (!(_vehicle_status_sub = new uORB::Subscription<vehicle_status_s>(ORB_ID(vehicle_status)))) {
+		PX4_ERR("Failed to allocate subscription");
+		return;
+	}
+
+	if (!(_parameter_update_sub = new uORB::Subscription<parameter_update_s>(ORB_ID(parameter_update)))) {
+		delete _vehicle_status_sub;
+		_vehicle_status_sub = nullptr;
+		PX4_ERR("Failed to allocate subscription");
+		return;
+	}
+
+
 	add_topic("sensor_gyro", 0);
 	add_topic("sensor_accel", 0);
 	add_topic("vehicle_rates_setpoint", 10);
@@ -448,10 +461,10 @@ void Logger::run()
 	while (!_task_should_exit) {
 
 		// Start/stop logging when system arm/disarm
-		if (_vehicle_status_sub.check_updated()) {
-			_vehicle_status_sub.update();
-			bool armed = (_vehicle_status_sub.get().arming_state == vehicle_status_s::ARMING_STATE_ARMED) ||
-				     (_vehicle_status_sub.get().arming_state == vehicle_status_s::ARMING_STATE_ARMED_ERROR);
+		if (_vehicle_status_sub->check_updated()) {
+			_vehicle_status_sub->update();
+			bool armed = (_vehicle_status_sub->get().arming_state == vehicle_status_s::ARMING_STATE_ARMED) ||
+				     (_vehicle_status_sub->get().arming_state == vehicle_status_s::ARMING_STATE_ARMED_ERROR);
 
 			if (_enabled != armed && !_log_on_start) {
 				if (armed) {
@@ -474,9 +487,9 @@ void Logger::run()
 
 			/* Check if parameters have changed */
 			// this needs to change to a timestamped record to record a history of parameter changes
-			if (_parameter_update_sub.check_updated()) {
+			if (_parameter_update_sub->check_updated()) {
 				warnx("parameter update");
-				_parameter_update_sub.update();
+				_parameter_update_sub->update();
 				write_changed_parameters();
 			}
 
@@ -577,6 +590,9 @@ void Logger::run()
 		usleep(_log_interval);
 	}
 
+	delete _vehicle_status_sub;
+	delete _parameter_update_sub;
+
 	// stop the writer thread
 	_writer.thread_stop();
 
diff --git a/src/modules/logger/logger.h b/src/modules/logger/logger.h
index f37ea4401d..0fc557a715 100644
--- a/src/modules/logger/logger.h
+++ b/src/modules/logger/logger.h
@@ -95,8 +95,8 @@ private:
 
 	bool						_task_should_exit = true;
 	char 						_log_dir[64];
-	uORB::Subscription<vehicle_status_s>	_vehicle_status_sub {ORB_ID(vehicle_status)};
-	uORB::Subscription<parameter_update_s>	_parameter_update_sub {ORB_ID(parameter_update)};
+	uORB::Subscription<vehicle_status_s>	*_vehicle_status_sub = nullptr;
+	uORB::Subscription<parameter_update_s>	*_parameter_update_sub = nullptr;
 	bool						_enabled = false;
 
 	// statistics