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AP_HAL_SMACCM: Panic if taking a semaphore held by current thread.

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- Catches bugs with attempted recursive semaphore taking.
This commit is contained in:
James Bielman 2013-01-10 13:16:43 -08:00
parent ea6147162a
commit 9abf3d2c0f
1 changed files with 16 additions and 0 deletions
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16
libraries/AP_HAL_SMACCM/Semaphores.cpp
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@ -1,10 +1,20 @@
#include "Semaphores.h"
#include <task.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_SMACCM
using namespace SMACCM;
extern const AP_HAL::HAL& hal;
/** Return true if this thread already holds "sem". */
static bool already_held(xSemaphoreHandle sem)
{
xTaskHandle self = xTaskGetCurrentTaskHandle();
return xSemaphoreGetMutexHolder(sem) == self;
}
SMACCMSemaphore::SMACCMSemaphore()
: m_semaphore(NULL)
{
@ -19,6 +29,9 @@ bool SMACCMSemaphore::take(uint32_t timeout_ms)
{
portTickType delay;
if (already_held(m_semaphore))
hal.scheduler->panic("PANIC: Recursive semaphore take.");
if (timeout_ms == HAL_SEMAPHORE_BLOCK_FOREVER)
delay = portMAX_DELAY;
else
@ -29,6 +42,9 @@ bool SMACCMSemaphore::take(uint32_t timeout_ms)
bool SMACCMSemaphore::take_nonblocking()
{
if (already_held(m_semaphore))
hal.scheduler->panic("PANIC: Recursive semaphore take.");
return xSemaphoreTake(m_semaphore, 0);
}