dataman: fix TSAN issues

src/modules/dataman/dataman.cpp

@@ -57,6 +57,8 @@
 #include <uORB/topics/dataman_request.h>
 #include <uORB/topics/dataman_response.h>
 
+#include <px4_platform_common/atomic.h>
+
 #include "dataman.h"
 
 __BEGIN_DECLS
@@ -126,7 +128,7 @@ static struct {
 			uint8_t *data_end;
 		} ram;
 	};
-	bool running;
+	px4::atomic_bool running{false};
 	bool silence = false;
 } dm_operations_data;
 
@@ -172,13 +174,14 @@ static enum {
 
 static px4_sem_t g_init_sema;
 
-static bool g_task_should_exit;	/**< if true, dataman task should exit */
+static px4::atomic_bool g_task_should_exit{false};	/**< if true, dataman task should exit */
+static px4_task_t g_task_id = -1;			/**< dataman task handle for join */
 
 /* Work queue management functions */
 
 static bool is_running()
 {
-	return dm_operations_data.running;
+	return dm_operations_data.running.load();
 }
 
 /* Calculate the offset in file of specific item */
@@ -607,7 +610,7 @@ _file_initialize(unsigned max_offset)
 		g_dm_ops->write(DM_KEY_SAFE_POINTS_STATE, 0, reinterpret_cast<uint8_t *>(&stats), sizeof(mission_stats_entry_s));
 	}
 
-	dm_operations_data.running = true;
+	dm_operations_data.running.store(true);
 
 	return 0;
 }
@@ -627,7 +630,7 @@ _ram_initialize(unsigned max_offset)
 
 	memset(dm_operations_data.ram.data, 0, max_offset);
 	dm_operations_data.ram.data_end = &dm_operations_data.ram.data[max_offset - 1];
-	dm_operations_data.running = true;
+	dm_operations_data.running.store(true);
 
 	return 0;
 }
@@ -637,7 +640,7 @@ static void
 _file_shutdown()
 {
 	close(dm_operations_data.file.fd);
-	dm_operations_data.running = false;
+	dm_operations_data.running.store(false);
 }
 #endif
 
@@ -645,7 +648,7 @@ static void
 _ram_shutdown()
 {
 	free(dm_operations_data.ram.data);
-	dm_operations_data.running = false;
+	dm_operations_data.running.store(false);
 }
 
 static int
@@ -683,7 +686,7 @@ task_main(int argc, char *argv[])
 		g_func_counts[i] = 0;
 	}
 
-	g_task_should_exit = false;
+	g_task_should_exit.store(false);
 
 	uORB::Publication<dataman_response_s> dataman_response_pub{ORB_ID(dataman_response)};
 	const int dataman_request_sub = orb_subscribe(ORB_ID(dataman_request));
@@ -698,7 +701,7 @@ task_main(int argc, char *argv[])
 	int ret = g_dm_ops->initialize(max_offset);
 
 	if (ret) {
-		g_task_should_exit = true;
+		g_task_should_exit.store(true);
 		goto end;
 	}
 
@@ -825,7 +828,7 @@ task_main(int argc, char *argv[])
 		}
 
 		/* time to go???? */
-		if (g_task_should_exit) {
+		if (g_task_should_exit.load()) {
 			break;
 		}
 	}
@@ -856,9 +859,11 @@ start()
 	px4_sem_setprotocol(&g_init_sema, SEM_PRIO_NONE);
 
 	/* start the worker thread with low priority for disk IO */
-	if (px4_task_spawn_cmd("dataman", SCHED_DEFAULT, SCHED_PRIORITY_DEFAULT - 10,
-			       PX4_STACK_ADJUSTED(TASK_STACK_SIZE), task_main,
-			       nullptr) < 0) {
+	g_task_id = px4_task_spawn_cmd("dataman", SCHED_DEFAULT, SCHED_PRIORITY_DEFAULT - 10,
+				       PX4_STACK_ADJUSTED(TASK_STACK_SIZE), task_main,
+				       nullptr);
+
+	if (g_task_id < 0) {
 		px4_sem_destroy(&g_init_sema);
 		PX4_ERR("task start failed");
 		return -1;
@@ -887,7 +892,7 @@ static void
 stop()
 {
 	/* Tell the worker task to shut down */
-	g_task_should_exit = true;
+	g_task_should_exit.store(true);
 }
 
 static void
@@ -1017,6 +1022,8 @@ dataman_main(int argc, char *argv[])
 
 	if (!strcmp(argv[1], "stop")) {
 		stop();
+		px4_task_join(g_task_id);
+		g_task_id = -1;
 #ifdef CONFIG_DATAMAN_PERSISTENT_STORAGE
 		free(k_data_manager_device_path);
 		k_data_manager_device_path = nullptr;