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AP_Networking: fixed a lockup bug in network ports 

we need to not hold the write semaphore when calling network socket
calls. This fixes a critical error where network sockets block due to
low level PPP issues while main thread is going mavlink sends
This commit is contained in:
Andrew Tridgell 2024-01-10 07:36:47 +11:00
parent 8bfd8f2403
commit 2ba3ac0a9e
1 changed files with 32 additions and 16 deletions
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48
libraries/AP_Networking/AP_Networking_port.cpp
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@ -319,10 +319,14 @@ bool AP_Networking::Port::send_receive(void)
{
bool active = false;
WITH_SEMAPHORE(sem);
uint32_t space;
// handle incoming packets
const auto space = readbuffer->space();
{
WITH_SEMAPHORE(sem);
space = readbuffer->space();
}
if (space > 0) {
const uint32_t n = MIN(300U, space);
uint8_t buf[n];
@ -334,6 +338,7 @@ bool AP_Networking::Port::send_receive(void)
return false;
}
if (ret > 0) {
WITH_SEMAPHORE(sem);
readbuffer->write(buf, ret);
active = true;
have_received = true;
@ -342,22 +347,33 @@ bool AP_Networking::Port::send_receive(void)
if (connected) {
// handle outgoing packets
uint32_t available = writebuffer->available();
available = MIN(300U, available);
uint32_t available;
{
WITH_SEMAPHORE(sem);
available = writebuffer->available();
available = MIN(300U, available);
#if HAL_GCS_ENABLED
if (packetise) {
available = mavlink_packetise(*writebuffer, available);
}
if (packetise) {
available = mavlink_packetise(*writebuffer, available);
}
#endif
if (available > 0) {
uint8_t buf[available];
auto n = writebuffer->peekbytes(buf, available);
if (n > 0) {
const auto ret = sock->send(buf, n);
if (ret > 0) {
writebuffer->advance(ret);
active = true;
}
if (available == 0) {
return active;
}
}
uint8_t buf[available];
uint32_t n;
{
WITH_SEMAPHORE(sem);
n = writebuffer->peekbytes(buf, available);
}
if (n > 0) {
const auto ret = sock->send(buf, n);
if (ret > 0) {
WITH_SEMAPHORE(sem);
writebuffer->advance(ret);
active = true;
}
}
} else {