Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-03-03 12:14:10 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_HAL_SITL: Periph: stop running SITL updates off main thread

Browse Source 
the same code present in the normal HAL-SITL scheduler was not copied across when this method was created.

Without it, if a non-main thread called delay we will attempt to do things like update the sitl_model (ie. SIM_Aircraft) object.  We have no protections in place (nor should we have) for this happening when the main thread is in the middle of doing the SITL updates, so corruption is definitely going to happen at some stage!
This commit is contained in:
Peter Barker 2025-01-13 14:04:37 +11:00 committed by Andrew Tridgell
parent fa04004a02
commit d015618e70
1 changed files with 9 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

13
libraries/AP_HAL_SITL/SITL_Periph_State.cpp
View File

@ -123,10 +123,15 @@ void SITL_State::init(int argc, char * const argv[]) {
void SITL_State::wait_clock(uint64_t wait_time_usec)
{
while (AP_HAL::micros64() < wait_time_usec) {
struct sitl_input input {};
sitl_model->update(input); // delays up to 1 millisecond
sim_update();
update_voltage_current(input, 0);
if (hal.scheduler->in_main_thread() ||
Scheduler::from(hal.scheduler)->semaphore_wait_hack_required()) {
struct sitl_input input {};
sitl_model->update(input); // delays up to 1 millisecond
sim_update();
update_voltage_current(input, 0);
} else {
usleep(1000);
}
}
}