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Added missing lock() unlock() to MuORB

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The commented out lock and unlock were determined to be needed and added back.

The unit test for VDev was updated. It showed the race between the poll and a
write that only does a poll_notify().

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
This commit is contained in:
Mark Charlebois
2015-04-29 17:04:30 -07:00
parent b408983d4c
commit a209fdc8ef
2 changed files with 42 additions and 31 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/uORB/MuORB.cpp
+2 -4
View File
@@ -310,8 +310,7 @@ ORBDevNode::read(device::file_t *filp, char *buffer, size_t buflen)
/* /*
* Perform an atomic copy & state update * Perform an atomic copy & state update
*/ */
// FIXME - This used to disable interrupts lock();
//lock();
/* if the caller doesn't want the data, don't give it to them */ /* if the caller doesn't want the data, don't give it to them */
if (nullptr != buffer) if (nullptr != buffer)
@@ -329,7 +328,7 @@ ORBDevNode::read(device::file_t *filp, char *buffer, size_t buflen)
*/ */
sd->update_reported = false; sd->update_reported = false;
//unlock(); unlock();
return _meta->o_size; return _meta->o_size;
} }
@@ -366,7 +365,6 @@ ORBDevNode::write(device::file_t *filp, const char *buffer, size_t buflen)
return -EIO; return -EIO;
/* Perform an atomic copy. */ /* Perform an atomic copy. */
// FIXME - make sure lock is what we want here
lock(); lock();
memcpy(_data, buffer, _meta->o_size); memcpy(_data, buffer, _meta->o_size);
unlock(); unlock();
src/platforms/posix/tests/vcdev_test/vcdevtest_example.cpp
+40 -27
View File
@@ -41,7 +41,8 @@
#include <px4_tasks.h> #include <px4_tasks.h>
#include "vcdevtest_example.h" #include "vcdevtest_example.h"
#include "drivers/device/device.h" #include <drivers/drv_device.h>
#include <drivers/device/device.h>
#include <unistd.h> #include <unistd.h>
#include <stdio.h> #include <stdio.h>
@@ -61,28 +62,35 @@ static int writer_main(int argc, char *argv[])
return -px4_errno; return -px4_errno;
} }
// Wait for 3 seconds int ret;
printf("--- Sleeping for 3 sec\n"); int i=0;
int ret = sleep(3); while (i<3) {
if (ret < 0) { // Wait for 3 seconds
printf("--- usleep failed %d %d\n", ret, errno); printf("--- Sleeping for 4 sec\n");
return ret; ret = sleep(4);
} if (ret < 0) {
printf("--- sleep failed %d %d\n", ret, errno);
return ret;
}
printf("--- writing to fd\n"); printf("--- writing to fd\n");
return px4_write(fd, buf, 1); ret = px4_write(fd, buf, 1);
++i;
}
px4_close(fd);
return ret;
} }
class VCDevNode : public CDev { class VCDevNode : public VDev {
public: public:
VCDevNode() : CDev("vcdevtest", TESTDEV) {}; VCDevNode() : VDev("vcdevtest", TESTDEV) {};
~VCDevNode() {} ~VCDevNode() {}
virtual ssize_t write(px4_dev_handle_t *handlep, const char *buffer, size_t buflen); virtual ssize_t write(device::file_t *handlep, const char *buffer, size_t buflen);
}; };
ssize_t VCDevNode::write(px4_dev_handle_t *handlep, const char *buffer, size_t buflen) ssize_t VCDevNode::write(device::file_t *handlep, const char *buffer, size_t buflen)
{ {
// ignore what was written, but let pollers know something was written // ignore what was written, but let pollers know something was written
poll_notify(POLLIN); poll_notify(POLLIN);
@@ -99,13 +107,13 @@ VCDevExample::~VCDevExample() {
static int test_pub_block(int fd, unsigned long blocked) static int test_pub_block(int fd, unsigned long blocked)
{ {
int ret = px4_ioctl(fd, PX4_DEVIOCSPUBBLOCK, blocked); int ret = px4_ioctl(fd, DEVIOCSPUBBLOCK, blocked);
if (ret < 0) { if (ret < 0) {
printf("ioctl PX4_DEVIOCSPUBBLOCK failed %d %d", ret, px4_errno); printf("ioctl PX4_DEVIOCSPUBBLOCK failed %d %d", ret, px4_errno);
return -px4_errno; return -px4_errno;
} }
ret = px4_ioctl(fd, PX4_DEVIOCGPUBBLOCK, 0); ret = px4_ioctl(fd, DEVIOCGPUBBLOCK, 0);
if (ret < 0) { if (ret < 0) {
printf("ioctl PX4_DEVIOCGPUBBLOCK failed %d %d", ret, px4_errno); printf("ioctl PX4_DEVIOCGPUBBLOCK failed %d %d", ret, px4_errno);
return -px4_errno; return -px4_errno;
@@ -139,9 +147,9 @@ int VCDevExample::main()
} }
void *p = 0; void *p = 0;
int ret = px4_ioctl(fd, PX4_DIOC_GETPRIV, (unsigned long)&p); int ret = px4_ioctl(fd, DIOC_GETPRIV, (unsigned long)&p);
if (ret < 0) { if (ret < 0) {
printf("ioctl PX4_DIOC_GETPRIV failed %d %d", ret, px4_errno); printf("ioctl DIOC_GETPRIV failed %d %d", ret, px4_errno);
return -px4_errno; return -px4_errno;
} }
printf("priv data = %p %s\n", p, p == (void *)_node ? "PASS" : "FAIL"); printf("priv data = %p %s\n", p, p == (void *)_node ? "PASS" : "FAIL");
@@ -164,28 +172,33 @@ int VCDevExample::main()
writer_main, writer_main,
(char* const*)NULL); (char* const*)NULL);
while (!appState.exitRequested() && i<3) { while (!appState.exitRequested() && i<13) {
printf("=====================\n");
printf("==== sleeping 2 sec ====\n");
sleep(2); sleep(2);
printf(" polling...\n");
fds[0].fd = fd; fds[0].fd = fd;
fds[0].events = POLLIN; fds[0].events = POLLIN;
fds[0].revents = 0; fds[0].revents = 0;
printf(" Calling Poll\n"); printf("==== Calling Poll\n");
ret = px4_poll(fds, 1, 1000); ret = px4_poll(fds, 1, 1000);
printf(" Done poll\n"); printf("==== Done poll\n");
if (ret < 0) { if (ret < 0) {
printf("poll failed %d %d\n", ret, px4_errno); printf("==== poll failed %d %d\n", ret, px4_errno);
px4_close(fd); px4_close(fd);
} }
else if (i > 0 && ret == 0) else if (i > 0) {
printf(" Nothing to read - PASS\n"); if (ret == 0)
printf("==== Nothing to read - PASS\n");
else
printf("==== poll returned %d\n", ret);
}
else if (i == 0) { else if (i == 0) {
if (ret == 1) if (ret == 1)
printf(" %d to read - %s\n", ret, fds[0].revents & POLLIN ? "PASS" : "FAIL"); printf("==== %d to read - %s\n", ret, fds[0].revents & POLLIN ? "PASS" : "FAIL");
else else
printf(" %d to read - FAIL\n", ret); printf("==== %d to read - FAIL\n", ret);
} }
++i; ++i;