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mavlink: destroy all instances fix potential dead lock

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This commit is contained in:
Daniel Agar
2021-12-07 17:01:53 -05:00
parent b00ebe53bb
commit 8b1543e3b0
1 changed files with 31 additions and 17 deletions
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src/modules/mavlink/mavlink_main.cpp
+31 -17
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@@ -338,31 +338,46 @@ Mavlink::get_instance_for_network_port(unsigned long port)
int
Mavlink::destroy_all_instances()
{
LockGuard lg{mavlink_module_mutex};
unsigned iterations = 0;
PX4_INFO("waiting for instances to stop");
for (Mavlink *inst_to_del : mavlink_module_instances) {
if (inst_to_del != nullptr) {
/* set flag to stop thread and wait for all threads to finish */
inst_to_del->request_stop();
unsigned iterations = 0;
while (inst_to_del->running()) {
printf(".");
fflush(stdout);
px4_usleep(10000);
iterations++;
while (iterations < 1000) {
int running = 0;
if (iterations > 1000) {
PX4_ERR("Couldn't stop all mavlink instances.");
return PX4_ERROR;
pthread_mutex_lock(&mavlink_module_mutex);
for (Mavlink *inst_to_del : mavlink_module_instances) {
if (inst_to_del != nullptr) {
if (inst_to_del->running()) {
running++;
// set flag to stop thread and wait for all threads to finish
inst_to_del->request_stop();
}
}
}
pthread_mutex_unlock(&mavlink_module_mutex);
if (running == 0) {
break;
} else if (iterations > 1000) {
PX4_ERR("Couldn't stop all mavlink instances.");
return PX4_ERROR;
} else {
iterations++;
printf(".");
fflush(stdout);
px4_usleep(10000);
}
}
//we know all threads have exited, so it's safe to delete objects.
LockGuard lg{mavlink_module_mutex};
// we know all threads have exited, so it's safe to delete objects.
for (Mavlink *inst_to_del : mavlink_module_instances) {
delete inst_to_del;
}
@@ -370,7 +385,6 @@ Mavlink::destroy_all_instances()
delete _event_buffer;
_event_buffer = nullptr;
printf("\n");
PX4_INFO("all instances stopped");
return OK;
}