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orb: rm static from DeviceMaster::_node_map & use the non-static getDeviceNode in uORB::Manager

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Reasons:
- DeviceMaster::_node_map does not need to be shared among instances,
  because there is at most 1 instance per Flavor and different Flavors
  have non-intersecting device paths.
- Keeping it static would also require a static lock
- DeviceMaster::_node_map was not locked at all when used from
  uORB::Manager

So this fixes two synchronization issues:
- Different DeviceMaster objects could access the same static data in
  parallel
- getDeviceNode() called from uORB::Manager did not use any locking at all
This commit is contained in:
Beat Küng
2016-04-29 13:14:29 +02:00
committed by Lorenz Meier
parent 45a0a7c5ab
commit 7280f71cef
5 changed files with 68 additions and 23 deletions
Download Patch File Download Diff File Expand all files Collapse all files

16
src/modules/uORB/uORBManager.cpp
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@@ -450,10 +450,10 @@ int16_t uORB::Manager::process_add_subscription(const char *messageName,
_remote_subscriber_topics.insert(messageName);
char nodepath[orb_maxpath];
int ret = uORB::Utils::node_mkpath(nodepath, PUBSUB, messageName);
DeviceMaster *device_master = get_device_master(PUBSUB);
if (ret == OK) {
// get the node name.
uORB::DeviceNode *node = uORB::DeviceMaster::GetDeviceNode(nodepath);
if (ret == OK && device_master) {
uORB::DeviceNode *node = device_master->getDeviceNode(nodepath);
if (node == nullptr) {
PX4_DEBUG("[posix-uORB::Manager::process_add_subscription(%d)]DeviceNode(%s) not created yet",
@@ -482,9 +482,10 @@ int16_t uORB::Manager::process_remove_subscription(
_remote_subscriber_topics.erase(messageName);
char nodepath[orb_maxpath];
int ret = uORB::Utils::node_mkpath(nodepath, PUBSUB, messageName);
DeviceMaster *device_master = get_device_master(PUBSUB);
if (ret == OK) {
uORB::DeviceNode *node = uORB::DeviceMaster::GetDeviceNode(nodepath);
if (ret == OK && device_master) {
uORB::DeviceNode *node = device_master->getDeviceNode(nodepath);
// get the node name.
if (node == nullptr) {
@@ -511,9 +512,10 @@ int16_t uORB::Manager::process_received_message(const char *messageName,
int16_t rc = -1;
char nodepath[orb_maxpath];
int ret = uORB::Utils::node_mkpath(nodepath, PUBSUB, messageName);
DeviceMaster *device_master = get_device_master(PUBSUB);
if (ret == OK) {
uORB::DeviceNode *node = uORB::DeviceMaster::GetDeviceNode(nodepath);
if (ret == OK && device_master) {
uORB::DeviceNode *node = device_master->getDeviceNode(nodepath);
// get the node name.
if (node == nullptr) {