uORB::DeviceNode allocate buffer on advertise #12802
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julianoes
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bkueng
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| return PX4_ERROR; | ||
| } | ||
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| // switch to new data | ||
| memcpy(data, _data, _meta->o_size * _queue_size); |
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Increasing the queue size does not work: due to the generation % _queue_size logic, a subscriber could access invalid data after this update.
Better keep the existing logic until we move the queue size to the meta-data.
bkueng
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Oct 3, 2019
| @@ -267,7 +269,7 @@ class uORB::DeviceNode : public cdev::CDev, public ListNode<uORB::DeviceNode *> | |||
| const uint8_t _instance; /**< orb multi instance identifier */ | |||
| uint8_t *_data{nullptr}; /**< allocated object buffer */ | |||
| hrt_abstime _last_update{0}; /**< time the object was last updated */ | |||
| volatile unsigned _generation{0}; /**< object generation count */ | |||
| unsigned _generation{0}; /**< object generation count */ | |||
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Can you make this atomic? It's accessed concurrently w/o locks.
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This issue has been automatically marked as stale because it has not had recent activity. Thank you for your contributions. |
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With the updated uORB::Subscription we've eliminated the majority of the unpublished uORB device nodes created from every orb_subscribe. As a result we can allocate the internal buffer immediately (on advertise) and relax the null checks (and interrupt context check).