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AP_Logger: fixed race condition with multi-thread AP_Logger

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This commit is contained in:
Andrew Tridgell 2019-02-18 13:53:50 +11:00
parent bd47aba5ca
commit 202e6d38c4
2 changed files with 14 additions and 0 deletions
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1
libraries/AP_Logger/AP_Logger.h
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@ -437,6 +437,7 @@ private:
uint32_t _log_data_page; uint32_t _log_data_page;
GCS_MAVLINK *_log_sending_link; GCS_MAVLINK *_log_sending_link;
HAL_Semaphore_Recursive _log_send_sem;
bool should_handle_log_message(); bool should_handle_log_message();
void handle_log_message(class GCS_MAVLINK &, mavlink_message_t *msg); void handle_log_message(class GCS_MAVLINK &, mavlink_message_t *msg);

13
libraries/AP_Logger/AP_Logger_MAVLinkLogTransfer.cpp
View File

@ -66,6 +66,8 @@ void AP_Logger::handle_log_message(GCS_MAVLINK &link, mavlink_message_t *msg)
*/ */
void AP_Logger::handle_log_request_list(GCS_MAVLINK &link, mavlink_message_t *msg) void AP_Logger::handle_log_request_list(GCS_MAVLINK &link, mavlink_message_t *msg)
{ {
WITH_SEMAPHORE(_log_send_sem);
if (_log_sending_link != nullptr) { if (_log_sending_link != nullptr) {
link.send_text(MAV_SEVERITY_INFO, "Log download in progress"); link.send_text(MAV_SEVERITY_INFO, "Log download in progress");
return; return;
@ -102,6 +104,8 @@ void AP_Logger::handle_log_request_list(GCS_MAVLINK &link, mavlink_message_t *ms
*/ */
void AP_Logger::handle_log_request_data(GCS_MAVLINK &link, mavlink_message_t *msg) void AP_Logger::handle_log_request_data(GCS_MAVLINK &link, mavlink_message_t *msg)
{ {
WITH_SEMAPHORE(_log_send_sem);
if (_log_sending_link != nullptr) { if (_log_sending_link != nullptr) {
// some GCS (e.g. MAVProxy) attempt to stream request_data // some GCS (e.g. MAVProxy) attempt to stream request_data
// messages when they're filling gaps in the downloaded logs. // messages when they're filling gaps in the downloaded logs.
@ -167,6 +171,7 @@ void AP_Logger::handle_log_request_erase(GCS_MAVLINK &link, mavlink_message_t *m
*/ */
void AP_Logger::handle_log_request_end(GCS_MAVLINK &link, mavlink_message_t *msg) void AP_Logger::handle_log_request_end(GCS_MAVLINK &link, mavlink_message_t *msg)
{ {
WITH_SEMAPHORE(_log_send_sem);
mavlink_log_request_end_t packet; mavlink_log_request_end_t packet;
mavlink_msg_log_request_end_decode(msg, &packet); mavlink_msg_log_request_end_decode(msg, &packet);
@ -179,6 +184,8 @@ void AP_Logger::handle_log_request_end(GCS_MAVLINK &link, mavlink_message_t *msg
*/ */
void AP_Logger::handle_log_send() void AP_Logger::handle_log_send()
{ {
WITH_SEMAPHORE(_log_send_sem);
if (_log_sending_link == nullptr) { if (_log_sending_link == nullptr) {
return; return;
} }
@ -200,6 +207,8 @@ void AP_Logger::handle_log_send()
void AP_Logger::handle_log_sending() void AP_Logger::handle_log_sending()
{ {
WITH_SEMAPHORE(_log_send_sem);
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
// assume USB speeds in SITL for the purposes of log download // assume USB speeds in SITL for the purposes of log download
const uint8_t num_sends = 40; const uint8_t num_sends = 40;
@ -233,6 +242,8 @@ void AP_Logger::handle_log_sending()
*/ */
void AP_Logger::handle_log_send_listing() void AP_Logger::handle_log_send_listing()
{ {
WITH_SEMAPHORE(_log_send_sem);
if (!HAVE_PAYLOAD_SPACE(_log_sending_link->get_chan(), LOG_ENTRY)) { if (!HAVE_PAYLOAD_SPACE(_log_sending_link->get_chan(), LOG_ENTRY)) {
// no space // no space
return; return;
@ -268,6 +279,8 @@ void AP_Logger::handle_log_send_listing()
*/ */
bool AP_Logger::handle_log_send_data() bool AP_Logger::handle_log_send_data()
{ {
WITH_SEMAPHORE(_log_send_sem);
if (!HAVE_PAYLOAD_SPACE(_log_sending_link->get_chan(), LOG_DATA)) { if (!HAVE_PAYLOAD_SPACE(_log_sending_link->get_chan(), LOG_DATA)) {
// no space // no space
return false; return false;