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[WIP]: drivers/uavcan: add locking for command line param helpers #14741

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[WIP]: drivers/uavcan: add locking for command line param helpers #14741

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14 changes: 13 additions & 1 deletion src/drivers/uavcan/uavcan_main.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -195,6 +195,8 @@ UavcanNode::cb_opcode(const uavcan::ServiceCallResult<uavcan::protocol::param::E
int
UavcanNode::save_params(int remote_node_id)
{
pthread_mutex_lock(&_node_mutex);

uavcan::protocol::param::ExecuteOpcode::Request opcode_req;
opcode_req.opcode = opcode_req.OPCODE_SAVE;
uavcan::ServiceClient<uavcan::protocol::param::ExecuteOpcode, ExecuteOpcodeCallback> client(_node);
Expand All @@ -204,15 +206,20 @@ UavcanNode::save_params(int remote_node_id)

if (call_res >= 0) {
while (client.hasPendingCalls()) {
pthread_mutex_unlock(&_node_mutex);
usleep(10000);
pthread_mutex_lock(&_node_mutex);
}
}

if (!_callback_success) {
std::printf("Failed to save parameters: %d\n", call_res);
pthread_mutex_unlock(&_node_mutex);
return -1;
}

pthread_mutex_unlock(&_node_mutex);

return 0;
}

Expand Down Expand Up @@ -290,6 +297,8 @@ UavcanNode::cb_setget(const uavcan::ServiceCallResult<uavcan::protocol::param::G
int
UavcanNode::get_set_param(int remote_node_id, const char *name, uavcan::protocol::param::GetSet::Request &req)
{
pthread_mutex_lock(&_node_mutex);

if (name != nullptr) {
req.name = name;
}
Expand All @@ -300,16 +309,19 @@ UavcanNode::get_set_param(int remote_node_id, const char *name, uavcan::protocol
int call_res = client.call(remote_node_id, req);

if (call_res >= 0) {

while (client.hasPendingCalls()) {
pthread_mutex_unlock(&_node_mutex);
usleep(10000);
pthread_mutex_lock(&_node_mutex);
}

if (!_callback_success) {
call_res = -1;
}
}

pthread_mutex_lock(&_node_mutex);

return call_res;
}

Expand Down