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AP_Scripting: mavlink: fix RX init locking

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If there is an error, the semaphore will never be released. Fix by only
calling functions which could cause errors after it's released.
This commit is contained in:
Thomas Watson 2025-02-08 13:02:39 -06:00 committed by Andrew Tridgell
parent cc00276441
commit 2b995b2087
1 changed files with 21 additions and 10 deletions
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31
libraries/AP_Scripting/lua_bindings.cpp
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@ -55,27 +55,38 @@ int lua_mavlink_init(lua_State *L) {
const int arg_offset = (luaL_testudata(L, 1, "mavlink") != NULL) ? 1 : 0; const int arg_offset = (luaL_testudata(L, 1, "mavlink") != NULL) ? 1 : 0;
binding_argcheck(L, 2+arg_offset); binding_argcheck(L, 2+arg_offset);
WITH_SEMAPHORE(AP::scripting()->mavlink_data.sem);
// get the depth of receive queue // get the depth of receive queue
const uint32_t queue_size = get_uint32(L, 1+arg_offset, 0, 25); const uint32_t queue_size = get_uint32(L, 1+arg_offset, 0, 25);
// get number of msgs to accept // get number of msgs to accept
const uint32_t num_msgs = get_uint32(L, 2+arg_offset, 0, 25); const uint32_t num_msgs = get_uint32(L, 2+arg_offset, 0, 25);
struct AP_Scripting::mavlink &data = AP::scripting()->mavlink_data; struct AP_Scripting::mavlink &data = AP::scripting()->mavlink_data;
if (data.rx_buffer == nullptr) { bool failed = false;
data.rx_buffer = NEW_NOTHROW ObjectBuffer<struct AP_Scripting::mavlink_msg>(queue_size); {
WITH_SEMAPHORE(data.sem);
if (data.rx_buffer == nullptr) { if (data.rx_buffer == nullptr) {
return luaL_error(L, "Failed to allocate mavlink rx buffer"); data.rx_buffer = NEW_NOTHROW ObjectBuffer<struct AP_Scripting::mavlink_msg>(queue_size);
} }
}
if (data.accept_msg_ids == nullptr) {
data.accept_msg_ids = NEW_NOTHROW uint32_t[num_msgs];
if (data.accept_msg_ids == nullptr) { if (data.accept_msg_ids == nullptr) {
return luaL_error(L, "Failed to allocate mavlink rx registry"); data.accept_msg_ids = NEW_NOTHROW uint32_t[num_msgs];
} }
data.accept_msg_ids_size = num_msgs; if ((data.rx_buffer == nullptr) || (data.accept_msg_ids == nullptr)) {
memset(data.accept_msg_ids, UINT32_MAX, sizeof(int) * num_msgs); delete data.rx_buffer;
delete[] data.accept_msg_ids;
data.rx_buffer = nullptr;
data.accept_msg_ids = nullptr;
data.accept_msg_ids_size = 0;
failed = true;
} else {
data.accept_msg_ids_size = num_msgs;
memset(data.accept_msg_ids, UINT32_MAX, sizeof(int) * num_msgs);
}
} // release semaphore here as luaL_error will NOT do that!
if (failed) {
return luaL_error(L, "out of memory");
} }
return 0; return 0;
} }