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[hal] Fix potential race in CANAPI (#6819)

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This commit is contained in:
Ryan Blue
2024-07-29 11:00:39 -04:00
committed by GitHub
parent 0e9c514ebf
commit 8c06ef64cb
2 changed files with 21 additions and 50 deletions
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35
hal/src/main/native/sim/CANAPI.cpp
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@@ -26,8 +26,9 @@ struct CANStorage {
HAL_CANManufacturer manufacturer;
HAL_CANDeviceType deviceType;
uint8_t deviceId;
wpi::mutex mapMutex;
wpi::mutex periodicSendsMutex;
wpi::SmallDenseMap<int32_t, int32_t> periodicSends;
wpi::mutex receivesMutex;
wpi::SmallDenseMap<int32_t, Receives> receives;
};
} // namespace
@@ -97,7 +98,7 @@ void HAL_CleanCAN(HAL_CANHandle handle) {
return;
}
std::scoped_lock lock(data->mapMutex);
std::scoped_lock lock(data->periodicSendsMutex);
for (auto&& i : data->periodicSends) {
int32_t s = 0;
@@ -116,12 +117,8 @@ void HAL_WriteCANPacket(HAL_CANHandle handle, const uint8_t* data,
}
auto id = CreateCANId(can.get(), apiId);
std::scoped_lock lock(can->periodicSendsMutex);
HAL_CAN_SendMessage(id, data, length, HAL_CAN_SEND_PERIOD_NO_REPEAT, status);
if (*status != 0) {
return;
}
std::scoped_lock lock(can->mapMutex);
can->periodicSends[apiId] = -1;
}
@@ -135,12 +132,8 @@ void HAL_WriteCANPacketRepeating(HAL_CANHandle handle, const uint8_t* data,
}
auto id = CreateCANId(can.get(), apiId);
std::scoped_lock lock(can->periodicSendsMutex);
HAL_CAN_SendMessage(id, data, length, repeatMs, status);
if (*status != 0) {
return;
}
std::scoped_lock lock(can->mapMutex);
can->periodicSends[apiId] = repeatMs;
}
@@ -156,12 +149,8 @@ void HAL_WriteCANRTRFrame(HAL_CANHandle handle, int32_t length, int32_t apiId,
uint8_t data[8];
std::memset(data, 0, sizeof(data));
std::scoped_lock lock(can->periodicSendsMutex);
HAL_CAN_SendMessage(id, data, length, HAL_CAN_SEND_PERIOD_NO_REPEAT, status);
if (*status != 0) {
return;
}
std::scoped_lock lock(can->mapMutex);
can->periodicSends[apiId] = -1;
}
@@ -174,13 +163,9 @@ void HAL_StopCANPacketRepeating(HAL_CANHandle handle, int32_t apiId,
}
auto id = CreateCANId(can.get(), apiId);
std::scoped_lock lock(can->periodicSendsMutex);
HAL_CAN_SendMessage(id, nullptr, 0, HAL_CAN_SEND_PERIOD_STOP_REPEATING,
status);
if (*status != 0) {
return;
}
std::scoped_lock lock(can->mapMutex);
can->periodicSends[apiId] = -1;
}
@@ -199,7 +184,7 @@ void HAL_ReadCANPacketNew(HAL_CANHandle handle, int32_t apiId, uint8_t* data,
HAL_CAN_ReceiveMessage(&messageId, 0x1FFFFFFF, data, &dataSize, &ts, status);
if (*status == 0) {
std::scoped_lock lock(can->mapMutex);
std::scoped_lock lock(can->receivesMutex);
auto& msg = can->receives[messageId];
msg.length = dataSize;
msg.lastTimeStamp = ts;
@@ -224,7 +209,7 @@ void HAL_ReadCANPacketLatest(HAL_CANHandle handle, int32_t apiId, uint8_t* data,
uint32_t ts = 0;
HAL_CAN_ReceiveMessage(&messageId, 0x1FFFFFFF, data, &dataSize, &ts, status);
std::scoped_lock lock(can->mapMutex);
std::scoped_lock lock(can->receivesMutex);
if (*status == 0) {
// fresh update
auto& msg = can->receives[messageId];
@@ -261,7 +246,7 @@ void HAL_ReadCANPacketTimeout(HAL_CANHandle handle, int32_t apiId,
uint32_t ts = 0;
HAL_CAN_ReceiveMessage(&messageId, 0x1FFFFFFF, data, &dataSize, &ts, status);
std::scoped_lock lock(can->mapMutex);
std::scoped_lock lock(can->receivesMutex);
if (*status == 0) {
// fresh update
auto& msg = can->receives[messageId];