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DataFlash: add mutex for WritePrioritisedBlock

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Multiple threads attempt to write blocks; don't let
them interfere
This commit is contained in:
Peter Barker 2017-04-05 20:03:18 +10:00 committed by Andrew Tridgell
parent 2fa97c9906
commit feb30b3b9b
2 changed files with 24 additions and 3 deletions
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25
libraries/DataFlash/DataFlash_MAVLink.cpp
View File

@ -25,6 +25,12 @@ extern const AP_HAL::HAL& hal;
// initialisation
void DataFlash_MAVLink::Init()
{
semaphore = hal.util->new_semaphore();
if (semaphore == nullptr) {
AP_HAL::panic("Failed to create DataFlash_MAVLink semaphore");
return;
}
DataFlash_Backend::Init();
_blocks = nullptr;
@ -121,7 +127,13 @@ bool DataFlash_MAVLink::WritePrioritisedBlock(const void *pBuffer, uint16_t size
return false;
}
if (!semaphore->take_nonblocking()) {
dropped++;
return false;
}
if (! WriteBlockCheckStartupMessages()) {
semaphore->give();
return false;
}
@ -130,6 +142,7 @@ bool DataFlash_MAVLink::WritePrioritisedBlock(const void *pBuffer, uint16_t size
// do not count the startup packets as being dropped...
dropped++;
}
semaphore->give();
return false;
}
@ -141,6 +154,7 @@ bool DataFlash_MAVLink::WritePrioritisedBlock(const void *pBuffer, uint16_t size
if (_current_block == nullptr) {
// should not happen - there's a sanity check above
internal_error();
semaphore->give();
return false;
}
}
@ -157,9 +171,7 @@ bool DataFlash_MAVLink::WritePrioritisedBlock(const void *pBuffer, uint16_t size
}
}
if (!_writing_startup_messages) {
// push_log_blocks();
}
semaphore->give();
return true;
}
@ -465,13 +477,20 @@ void DataFlash_MAVLink::push_log_blocks()
DataFlash_Backend::WriteMoreStartupMessages();
if (!semaphore->take_nonblocking()) {
return;
}
if (! send_log_blocks_from_queue(_blocks_retry)) {
semaphore->give();
return;
}
if (! send_log_blocks_from_queue(_blocks_pending)) {
semaphore->give();
return;
}
semaphore->give();
}
void DataFlash_MAVLink::do_resends(uint32_t now)

2
libraries/DataFlash/DataFlash_MAVLink.h
View File

@ -187,6 +187,8 @@ private:
AP_HAL::Util::perf_counter_t _perf_errors;
AP_HAL::Util::perf_counter_t _perf_packing;
AP_HAL::Util::perf_counter_t _perf_overruns;
AP_HAL::Semaphore *semaphore;
};
#endif // DATAFLASH_MAVLINK_SUPPORT