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fix WorkQueueManager: wait until running to prevent race conditions

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This commit is contained in:
Beat Küng
2023-03-14 09:35:19 +01:00
parent f0dd9fa445
commit e65a0a01d6
1 changed files with 23 additions and 5 deletions
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platforms/common/px4_work_queue/WorkQueueManager.cpp
+23 -5
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@@ -61,12 +61,13 @@ static BlockingList<WorkQueue *> *_wq_manager_wqs_list{nullptr};
static BlockingQueue<const wq_config_t *, 1> *_wq_manager_create_queue{nullptr};
static px4::atomic_bool _wq_manager_should_exit{true};
static px4::atomic_bool _wq_manager_running{false};
static WorkQueue *
FindWorkQueueByName(const char *name)
{
if (_wq_manager_wqs_list == nullptr) {
if (!_wq_manager_running.load()) {
PX4_ERR("not running");
return nullptr;
}
@@ -86,7 +87,7 @@ FindWorkQueueByName(const char *name)
WorkQueue *
WorkQueueFindOrCreate(const wq_config_t &new_wq)
{
if (_wq_manager_create_queue == nullptr) {
if (!_wq_manager_running.load()) {
PX4_ERR("not running");
return nullptr;
}
@@ -258,6 +259,7 @@ WorkQueueManagerRun(int, char **)
{
_wq_manager_wqs_list = new BlockingList<WorkQueue *>();
_wq_manager_create_queue = new BlockingQueue<const wq_config_t *, 1>();
_wq_manager_running.store(true);
while (!_wq_manager_should_exit.load()) {
// create new work queues as needed
@@ -361,13 +363,15 @@ WorkQueueManagerRun(int, char **)
}
}
_wq_manager_running.store(false);
return 0;
}
int
WorkQueueManagerStart()
{
if (_wq_manager_should_exit.load() && (_wq_manager_create_queue == nullptr)) {
if (_wq_manager_should_exit.load() && !_wq_manager_running.load()) {
_wq_manager_should_exit.store(false);
@@ -384,6 +388,18 @@ WorkQueueManagerStart()
return -errno;
}
// Wait until initialized
int max_tries = 1000;
while (!_wq_manager_running.load() && --max_tries > 0) {
px4_usleep(1000);
}
if (max_tries <= 0) {
PX4_ERR("failed to wait for task to start");
return PX4_ERROR;
}
} else {
PX4_WARN("already running");
return PX4_ERROR;
@@ -398,7 +414,7 @@ WorkQueueManagerStop()
if (!_wq_manager_should_exit.load()) {
// error can't shutdown until all WorkItems are removed/stopped
if ((_wq_manager_wqs_list != nullptr) && (_wq_manager_wqs_list->size() > 0)) {
if (_wq_manager_running.load() && (_wq_manager_wqs_list->size() > 0)) {
PX4_ERR("can't shutdown with active WQs");
WorkQueueManagerStatus();
return PX4_ERROR;
@@ -422,6 +438,7 @@ WorkQueueManagerStop()
}
delete _wq_manager_wqs_list;
_wq_manager_wqs_list = nullptr;
}
_wq_manager_should_exit.store(true);
@@ -433,6 +450,7 @@ WorkQueueManagerStop()
px4_usleep(10000);
delete _wq_manager_create_queue;
_wq_manager_create_queue = nullptr;
}
} else {
@@ -446,7 +464,7 @@ WorkQueueManagerStop()
int
WorkQueueManagerStatus()
{
if (!_wq_manager_should_exit.load() && (_wq_manager_wqs_list != nullptr)) {
if (!_wq_manager_should_exit.load() && _wq_manager_running.load()) {
const size_t num_wqs = _wq_manager_wqs_list->size();
PX4_INFO_RAW("\nWork Queue: %-2zu threads RATE INTERVAL\n", num_wqs);