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platforms/common/uORB/uORBManager.cpp: Fix a race condition in uORB c… #643

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Feb 21, 2024
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platforms/common/uORB/uORBManager.cpp: Fix a race condition in uORB c… #643

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9 changes: 5 additions & 4 deletions platforms/common/uORB/uORBManager.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -588,6 +588,11 @@ uORB::Manager::unregisterCallback(orb_advert_t &node_handle, SubscriptionCallbac
#ifndef CONFIG_BUILD_FLAT
lock_cb_list();

// Remove the callback from the list. This must be done before unregistering from the device node
// otherwise the callback thread might try to call an already unregistered cb

per_process_cb_list.remove(callback_sub);

// Unregister the callback from the device node and retrieve amount of unhandled callback triggers
// The unregister from the node needs to be done callback_thread locked; otherwise we don't know
// if there are unhandled triggers left or not (due to a race between the callback thread and
Expand All @@ -598,10 +603,6 @@ uORB::Manager::unregisterCallback(orb_advert_t &node_handle, SubscriptionCallbac

callback_count += DeviceNode::unregister_callback(node_handle, cb_handle);

// Remove the callback from the list

per_process_cb_list.remove(callback_sub);

unlock_cb_list();
#else
DeviceNode::unregister_callback(node_handle, cb_handle);
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