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AP_DroneCAN: use separate tx and rx semaphores 

this prevents a deadlock on callback for DroneCAN receiver
This commit is contained in:
Andrew Tridgell 2023-06-07 19:19:19 +10:00
parent 3034aef570
commit f99fa6a703
2 changed files with 10 additions and 7 deletions
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14
libraries/AP_DroneCAN/AP_Canard_iface.cpp
View File

@ -49,7 +49,8 @@ bool CanardInterface::broadcast(const Canard::Transfer &bcast_transfer) {
if (!initialized) {
return false;
}
WITH_SEMAPHORE(_sem);
WITH_SEMAPHORE(_sem_tx);
#if AP_TEST_DRONECAN_DRIVERS
if (this == &test_iface) {
test_iface_sem.take_blocking();
@ -86,7 +87,7 @@ bool CanardInterface::request(uint8_t destination_node_id, const Canard::Transfe
if (!initialized) {
return false;
}
WITH_SEMAPHORE(_sem);
WITH_SEMAPHORE(_sem_tx);
tx_transfer = {
.transfer_type = req_transfer.transfer_type,
@ -112,7 +113,7 @@ bool CanardInterface::respond(uint8_t destination_node_id, const Canard::Transfe
if (!initialized) {
return false;
}
WITH_SEMAPHORE(_sem);
WITH_SEMAPHORE(_sem_tx);
tx_transfer = {
.transfer_type = res_transfer.transfer_type,
@ -164,7 +165,7 @@ void CanardInterface::processTestRx() {
#endif
void CanardInterface::processTx(bool raw_commands_only = false) {
WITH_SEMAPHORE(_sem);
WITH_SEMAPHORE(_sem_tx);
for (uint8_t iface = 0; iface < num_ifaces; iface++) {
if (ifaces[iface] == NULL) {
@ -252,7 +253,7 @@ void CanardInterface::processRx() {
rx_frame.iface_id = i;
#endif
{
WITH_SEMAPHORE(_sem);
WITH_SEMAPHORE(_sem_rx);
#if DEBUG_PKTS
const int16_t res =
@ -289,7 +290,8 @@ void CanardInterface::process(uint32_t duration_ms) {
processRx();
processTx();
{
WITH_SEMAPHORE(_sem);
WITH_SEMAPHORE(_sem_rx);
WITH_SEMAPHORE(_sem_tx);
canardCleanupStaleTransfers(&canard, AP_HAL::native_micros64());
}
uint64_t now = AP_HAL::native_micros64();

3
libraries/AP_DroneCAN/AP_Canard_iface.h
View File

@ -63,7 +63,8 @@ private:
uint8_t num_ifaces;
HAL_EventHandle _event_handle;
bool initialized;
HAL_Semaphore _sem;
HAL_Semaphore _sem_tx;
HAL_Semaphore _sem_rx;
CanardTxTransfer tx_transfer;
};
#endif // HAL_ENABLE_DRONECAN_DRIVERS