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uORBManager: Cleanup for callbacks, semaphores etc #516

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merged 2 commits into from
Oct 6, 2023
Merged

uORBManager: Cleanup for callbacks, semaphores etc #516

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d595392
uORBManager.cpp: Change struct->class SubscriptionCallback
pussuw Oct 5, 2023
5e88b4a
uORBManager.cpp: Change how old / stale semaphore handles are used
pussuw Oct 5, 2023
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2 changes: 1 addition & 1 deletion platforms/common/uORB/uORBDeviceNode.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -247,7 +247,7 @@ class DeviceNode
px4::atomic<unsigned> _generation{0}; /**< object generation count */

struct EventWaitItem {
struct SubscriptionCallback *subscriber;
class SubscriptionCallback *subscriber;
hrt_abstime last_update;
uint32_t interval_us;
int8_t lock;
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9 changes: 6 additions & 3 deletions platforms/common/uORB/uORBManager.cpp
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Expand Up @@ -443,8 +443,7 @@ int uORB::Manager::orb_poll(orb_poll_struct_t *fds, unsigned int nfds, int timeo
}
}

// recover from releasing multiple times
g_sem_pool.set(lock_idx, 0);
// release the semaphore
g_sem_pool.free(lock_idx);

return err ? -1 : count;
Expand Down Expand Up @@ -486,7 +485,7 @@ uORB::Manager::callback_thread(int argc, char *argv[])
while (true) {
lockThread(per_process_lock);

SubscriptionCallback *sub = dequeueCallback(per_process_lock);
class SubscriptionCallback *sub = dequeueCallback(per_process_lock);

// Pass nullptr to this thread to exit
if (sub == nullptr) {
Expand Down Expand Up @@ -518,6 +517,7 @@ void uORB::Manager::GlobalSemPool::free(int8_t i)
{
lock();

_global_sem[i].free();
_global_sem[i].in_use = false;

unlock();
Expand All @@ -543,6 +543,9 @@ int8_t uORB::Manager::GlobalSemPool::reserve()
return -1;
}

// Make sure the semaphore is initialized properly for the new user
_global_sem[i].init();

// Mark this one as in use
_global_sem[i].in_use = true;

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25 changes: 9 additions & 16 deletions platforms/common/uORB/uORBManager.hpp
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Expand Up @@ -634,7 +634,6 @@ class Manager
int8_t reserve();
void free(int8_t i);

void set(int8_t i, int val) {_global_sem[i].set(val);}
void take(int8_t i) { do {} while (_global_sem[i].take() != 0); }
int take_interruptible(int8_t i) { return _global_sem[i].take(); }
int take_timedwait(int8_t i, struct timespec *abstime) { return _global_sem[i].take_timedwait(abstime); }
Expand All @@ -643,8 +642,8 @@ class Manager

void cb_lock(int8_t i) { do {} while (_global_sem[i].cb_lock() != 0); }
void cb_unlock(int8_t i) { _global_sem[i].cb_unlock(); }
void cb_set(int8_t i, struct SubscriptionCallback *callback_ptr) { _global_sem[i].cb_set(callback_ptr); }
struct SubscriptionCallback *cb_get(int8_t i) { return _global_sem[i].cb_get(); }
void cb_set(int8_t i, class SubscriptionCallback *callback_ptr) { _global_sem[i].cb_set(callback_ptr); }
class SubscriptionCallback *cb_get(int8_t i) { return _global_sem[i].cb_get(); }

class GlobalLock
{
Expand All @@ -658,27 +657,21 @@ class Manager
sem_setprotocol(&_lock, SEM_PRIO_NONE);
#endif
in_use = false;
_callback_ptr = nullptr;
}
void set(int val)
{
px4_sem_destroy(&_sem);
px4_sem_init(&_sem, 1, val);
#if __PX4_NUTTX
sem_setprotocol(&_sem, SEM_PRIO_NONE);
#endif
}
int take() {return px4_sem_wait(&_sem);}
void free() { px4_sem_destroy(&_sem); }
int take() { return px4_sem_wait(&_sem); }
int take_timedwait(struct timespec *abstime) { return px4_sem_timedwait(&_sem, abstime); }
void release() {px4_sem_post(&_sem); }
void release() { px4_sem_post(&_sem); }
int value() { int value; px4_sem_getvalue(&_sem, &value); return value; }
bool in_use{false};

int cb_lock() { return px4_sem_wait(&_lock); }
void cb_unlock() { px4_sem_post(&_lock); }
void cb_set(struct SubscriptionCallback *callback_ptr) { _callback_ptr = callback_ptr; }
struct SubscriptionCallback *cb_get() { return _callback_ptr; }
void cb_set(class SubscriptionCallback *callback_ptr) { _callback_ptr = callback_ptr; }
class SubscriptionCallback *cb_get() { return _callback_ptr; }
private:
struct SubscriptionCallback *_callback_ptr {nullptr};
class SubscriptionCallback *_callback_ptr {nullptr};
px4_sem_t _sem; /* For signaling to the callback thread */
px4_sem_t _lock; /* For signaling back from the callback thread */
};
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