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AP_Frsky_Telem: fixed a race condition with statustext handling

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this fixes an issue that can cause a hardfault. See this bug report:

https://discuss.ardupilot.org/t/hexa-crash-after-watchdog-reset/50917

ObjectArray is not thread safe
This commit is contained in:
Andrew Tridgell 2020-01-10 17:58:29 +11:00
parent f1c5cefd13
commit 0dc22331d0
2 changed files with 32 additions and 17 deletions
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38
libraries/AP_Frsky_Telem/AP_Frsky_Telem.cpp
View File

@ -37,8 +37,7 @@
extern const AP_HAL::HAL& hal;
AP_Frsky_Telem::AP_Frsky_Telem(void) :
_statustext_queue(FRSKY_TELEM_PAYLOAD_STATUS_CAPACITY)
AP_Frsky_Telem::AP_Frsky_Telem(void)
{
}
@ -133,7 +132,12 @@ void AP_Frsky_Telem::passthrough_wfq_adaptive_scheduler(uint8_t prev_byte)
check_ekf_status();
// dynamic priorities
if (!_statustext_queue.empty()) {
bool queue_empty;
{
WITH_SEMAPHORE(_statustext.sem);
queue_empty = !_statustext.available && _statustext.queue.empty();
}
if (!queue_empty) {
_passthrough.packet_weight[0] = 45; // messages
_passthrough.packet_weight[1] = 80; // attitude
} else {
@ -151,7 +155,7 @@ void AP_Frsky_Telem::passthrough_wfq_adaptive_scheduler(uint8_t prev_byte)
if (delay >= max_delay && ((now - _passthrough.packet_timer[i]) >= _sport_config.packet_min_period[i])) {
switch (i) {
case 0:
packet_ready = !_statustext_queue.empty();
packet_ready = !queue_empty;
break;
case 5:
packet_ready = gcs().vehicle_initialised();
@ -530,16 +534,20 @@ void AP_Frsky_Telem::send_uint16(uint16_t id, uint16_t data)
*/
bool AP_Frsky_Telem::get_next_msg_chunk(void)
{
if (_statustext_queue.empty()) {
if (!_statustext.available) {
WITH_SEMAPHORE(_statustext.sem);
if (!_statustext.queue.pop(_statustext.next)) {
return false;
}
_statustext.available = true;
}
if (_msg_chunk.repeats == 0) { // if it's the first time get_next_msg_chunk is called for a given chunk
uint8_t character = 0;
_msg_chunk.chunk = 0; // clear the 4 bytes of the chunk buffer
for (int i = 3; i > -1 && _msg_chunk.char_index < sizeof(_statustext_queue[0]->text); i--) {
character = _statustext_queue[0]->text[_msg_chunk.char_index++];
for (int i = 3; i > -1 && _msg_chunk.char_index < sizeof(_statustext.next.text); i--) {
character = _statustext.next.text[_msg_chunk.char_index++];
if (!character) {
break;
@ -548,12 +556,12 @@ bool AP_Frsky_Telem::get_next_msg_chunk(void)
_msg_chunk.chunk |= character << i * 8;
}
if (!character || (_msg_chunk.char_index == sizeof(_statustext_queue[0]->text))) { // we've reached the end of the message (string terminated by '\0' or last character of the string has been processed)
if (!character || (_msg_chunk.char_index == sizeof(_statustext.next.text))) { // we've reached the end of the message (string terminated by '\0' or last character of the string has been processed)
_msg_chunk.char_index = 0; // reset index to get ready to process the next message
// add severity which is sent as the MSB of the last three bytes of the last chunk (bits 24, 16, and 8) since a character is on 7 bits
_msg_chunk.chunk |= (_statustext_queue[0]->severity & 0x4)<<21;
_msg_chunk.chunk |= (_statustext_queue[0]->severity & 0x2)<<14;
_msg_chunk.chunk |= (_statustext_queue[0]->severity & 0x1)<<7;
_msg_chunk.chunk |= (_statustext.next.severity & 0x4)<<21;
_msg_chunk.chunk |= (_statustext.next.severity & 0x2)<<14;
_msg_chunk.chunk |= (_statustext.next.severity & 0x1)<<7;
}
}
@ -573,8 +581,9 @@ bool AP_Frsky_Telem::get_next_msg_chunk(void)
if (_msg_chunk.repeats++ > extra_chunks ) {
_msg_chunk.repeats = 0;
if (_msg_chunk.char_index == 0) { // if we're ready for the next message
_statustext_queue.remove(0);
if (_msg_chunk.char_index == 0) {
// we're ready for the next message
_statustext.available = false;
}
}
return true;
@ -594,7 +603,8 @@ void AP_Frsky_Telem::queue_message(MAV_SEVERITY severity, const char *text)
// The force push will ensure comm links do not block other comm links forever if they fail.
// If we push to a full buffer then we overwrite the oldest entry, effectively removing the
// block but not until the buffer fills up.
_statustext_queue.push_force(statustext);
WITH_SEMAPHORE(_statustext.sem);
_statustext.queue.push_force(statustext);
}
/*

7
libraries/AP_Frsky_Telem/AP_Frsky_Telem.h
View File

@ -139,7 +139,12 @@ private:
uint32_t check_ekf_status_timer;
uint8_t _paramID;
ObjectArray<mavlink_statustext_t> _statustext_queue;
struct {
HAL_Semaphore sem;
ObjectBuffer<mavlink_statustext_t> queue{FRSKY_TELEM_PAYLOAD_STATUS_CAPACITY};
mavlink_statustext_t next;
bool available;
} _statustext;
struct
{