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GCS_MAVLink: added mutex deadlock test code

This commit is contained in:
Andrew Tridgell 2023-06-16 09:54:41 +10:00
parent 81e0685d33
commit 7fa0de37c3
2 changed files with 26 additions and 0 deletions
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5
libraries/GCS_MAVLink/GCS.h
View File

@ -578,6 +578,11 @@ protected:
void handle_set_gps_global_origin(const mavlink_message_t &msg);
void handle_setup_signing(const mavlink_message_t &msg) const;
virtual MAV_RESULT handle_preflight_reboot(const mavlink_command_long_t &packet, const mavlink_message_t &msg);
struct {
HAL_Semaphore sem;
bool taken;
} _deadlock_sem;
void deadlock_sem(void);
// reset a message interval via mavlink:
MAV_RESULT handle_command_set_message_interval(const mavlink_command_long_t &packet);

21
libraries/GCS_MAVLink/GCS_Common.cpp
View File

@ -3162,6 +3162,16 @@ MAV_RESULT GCS_MAVLINK::handle_preflight_reboot(const mavlink_command_long_t &pa
#endif
}
#endif
if (is_equal(packet.param4, 100.0f)) {
send_text(MAV_SEVERITY_WARNING,"Creating mutex deadlock");
hal.scheduler->register_io_process(FUNCTOR_BIND_MEMBER(&GCS_MAVLINK::deadlock_sem, void));
while (!_deadlock_sem.taken) {
hal.scheduler->delay(1);
}
WITH_SEMAPHORE(_deadlock_sem.sem);
send_text(MAV_SEVERITY_WARNING,"deadlock passed");
return MAV_RESULT_ACCEPTED;
}
}
// refuse reboot when armed:
@ -3205,6 +3215,17 @@ MAV_RESULT GCS_MAVLINK::handle_preflight_reboot(const mavlink_command_long_t &pa
return MAV_RESULT_FAILED;
}
/*
take a semaphore and do not release it, triggering a deadlock
*/
void GCS_MAVLINK::deadlock_sem(void)
{
if (!_deadlock_sem.taken) {
_deadlock_sem.taken = true;
_deadlock_sem.sem.take_blocking();
}
}
/*
handle a flight termination request
*/