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DataFlash: resolve race conditions with IMU logging thread

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This commit is contained in:
Peter Barker 2017-09-18 11:03:48 +10:00 committed by Andrew Tridgell
parent 17ef7e68b1
commit f9f20970c9
1 changed files with 15 additions and 0 deletions
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15
libraries/DataFlash/DataFlash_Backend.cpp
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@ -86,6 +86,12 @@ bool DataFlash_Backend::WriteBlockCheckStartupMessages()
return true; return true;
} }
if (!_startup_messagewriter->finished() &&
!hal.scheduler->in_main_thread()) {
// only the main thread may write startup messages out
return false;
}
// we're not writing startup messages, so this must be some random // we're not writing startup messages, so this must be some random
// caller hoping to write blocks out. Push out log blocks - we // caller hoping to write blocks out. Push out log blocks - we
// might end up clearing the buffer..... // might end up clearing the buffer.....
@ -271,6 +277,9 @@ bool DataFlash_Backend::StartNewLogOK() const
if (_front.in_log_download()) { if (_front.in_log_download()) {
return false; return false;
} }
if (!hal.scheduler->in_main_thread()) {
return false;
}
return true; return true;
} }
@ -300,5 +309,11 @@ bool DataFlash_Backend::ShouldLog() const
return false; return false;
} }
if (!_startup_messagewriter->finished() &&
!hal.scheduler->in_main_thread()) {
// only the main thread may write startup messages out
return false;
}
return true; return true;
} }