aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

GCS_MAVLink: exclude deadlock-creation based on FAILURE_CREATION_ENABLED

Browse Source
This commit is contained in:
Peter Barker 2023-11-16 13:12:21 +11:00 committed by Randy Mackay
parent f9c9a09327
commit 6d172a1b22
2 changed files with 14 additions and 10 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
libraries/GCS_MAVLink/GCS.h
View File

@ -581,11 +581,13 @@ protected:
void handle_set_gps_global_origin(const mavlink_message_t &msg);
void handle_setup_signing(const mavlink_message_t &msg) const;
virtual MAV_RESULT handle_preflight_reboot(const mavlink_command_int_t &packet, const mavlink_message_t &msg);
#if AP_MAVLINK_FAILURE_CREATION_ENABLED
struct {
HAL_Semaphore sem;
bool taken;
} _deadlock_sem;
void deadlock_sem(void);
#endif
// reset a message interval via mavlink:
MAV_RESULT handle_command_set_message_interval(const mavlink_command_int_t &packet);

22
libraries/GCS_MAVLink/GCS_Common.cpp
View File

@ -3203,6 +3203,16 @@ MAV_RESULT GCS_MAVLINK::handle_preflight_reboot(const mavlink_command_int_t &pac
INTERNAL_ERROR(AP_InternalError::error_t::flow_of_control);
return MAV_RESULT_ACCEPTED;
}
if (is_equal(packet.param4, 100.0f)) {
send_text(MAV_SEVERITY_WARNING,"Creating mutex deadlock");
hal.scheduler->register_io_process(FUNCTOR_BIND_MEMBER(&GCS_MAVLINK::deadlock_sem, void));
while (!_deadlock_sem.taken) {
hal.scheduler->delay(1);
}
WITH_SEMAPHORE(_deadlock_sem.sem);
send_text(MAV_SEVERITY_WARNING,"deadlock passed");
return MAV_RESULT_ACCEPTED;
}
#endif // AP_MAVLINK_FAILURE_CREATION_ENABLED
#if HAL_ENABLE_DFU_BOOT
@ -3217,16 +3227,6 @@ MAV_RESULT GCS_MAVLINK::handle_preflight_reboot(const mavlink_command_int_t &pac
#endif
}
#endif
if (is_equal(packet.param4, 100.0f)) {
send_text(MAV_SEVERITY_WARNING,"Creating mutex deadlock");
hal.scheduler->register_io_process(FUNCTOR_BIND_MEMBER(&GCS_MAVLINK::deadlock_sem, void));
while (!_deadlock_sem.taken) {
hal.scheduler->delay(1);
}
WITH_SEMAPHORE(_deadlock_sem.sem);
send_text(MAV_SEVERITY_WARNING,"deadlock passed");
return MAV_RESULT_ACCEPTED;
}
}
// refuse reboot when armed:
@ -3270,6 +3270,7 @@ MAV_RESULT GCS_MAVLINK::handle_preflight_reboot(const mavlink_command_int_t &pac
return MAV_RESULT_FAILED;
}
#if AP_MAVLINK_FAILURE_CREATION_ENABLED
/*
take a semaphore and do not release it, triggering a deadlock
*/
@ -3280,6 +3281,7 @@ void GCS_MAVLINK::deadlock_sem(void)
_deadlock_sem.sem.take_blocking();
}
}
#endif
/*
handle a flight termination request