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Code Issues Releases Activity

Merged in skarlsso/librepilot/skarlsso/LP-155_gcs_osx_hid_crash (pull request #92)

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Skarlsso/lp 155_gcs_osx_hid_crash
This commit is contained in:
Lalanne Laurent 2015-10-16 21:32:46 +02:00
commit 084ba62e4f
2 changed files with 47 additions and 4 deletions
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49
ground/gcs/src/plugins/ophid/hidapi/mac/hid.c
View File

@ -118,6 +118,8 @@ struct hid_device_ {
pthread_barrier_t barrier; /* Ensures correct startup sequence */ pthread_barrier_t barrier; /* Ensures correct startup sequence */
pthread_barrier_t shutdown_barrier; /* Ensures correct shutdown sequence */ pthread_barrier_t shutdown_barrier; /* Ensures correct shutdown sequence */
int shutdown_thread; int shutdown_thread;
bool run_loop_stopped;
}; };
static hid_device *new_hid_device(void) static hid_device *new_hid_device(void)
@ -133,6 +135,7 @@ static hid_device *new_hid_device(void)
dev->input_report_buf = NULL; dev->input_report_buf = NULL;
dev->input_reports = NULL; dev->input_reports = NULL;
dev->shutdown_thread = 0; dev->shutdown_thread = 0;
dev->run_loop_stopped = 0;
/* Thread objects */ /* Thread objects */
pthread_mutex_init(&dev->mutex, NULL); pthread_mutex_init(&dev->mutex, NULL);
@ -173,7 +176,13 @@ static void free_hid_device(hid_device *dev)
pthread_mutex_destroy(&dev->mutex); pthread_mutex_destroy(&dev->mutex);
/* Free the structure itself. */ /* Free the structure itself. */
free(dev); // Note: We can't delete the dev struct, since we might get
// an asynchronous call to hid_device_removal_callback, which
// gets the dev passed as an argument.
//
// See stop_run_loop for an explanation why this happens.
//
// free(dev);
} }
static IOHIDManagerRef hid_mgr = 0x0; static IOHIDManagerRef hid_mgr = 0x0;
@ -548,6 +557,38 @@ hid_device * HID_API_EXPORT hid_open(unsigned short vendor_id, unsigned short pr
return handle; return handle;
} }
// Use a shared mutex for all devices.
static pthread_mutex_t stop_run_loop_mutex = PTHREAD_MUTEX_INITIALIZER;
static void stop_run_loop(hid_device* dev)
{
bool stop_run_loop;
// There seems to be a bug in IOHIDDeviceRegisterRemovalCallback,
// which causes de-registration of the removal callback
// (hid_device_removal_callbacl) to fail.
//
// Because of this, hid_device_removal_callback will be called after
// the read_thread has executed perform_signal_callback, which also
// calls CFRunLoopStop. This second call to CFRunLoopStop is executed
// in another thread, sometimes after the read_thread has executed, and
// this causes crashes.
//
// Because of this asynchronous call to hid_device_removal_callback,
// the dev structs are leaked, for now.
pthread_mutex_lock(&stop_run_loop_mutex);
stop_run_loop = !dev->run_loop_stopped;
if (stop_run_loop) {
dev->run_loop_stopped = 1;
}
pthread_mutex_unlock(&stop_run_loop_mutex);
if (stop_run_loop) {
CFRunLoopStop(dev->run_loop);
}
}
static void hid_device_removal_callback(void *context, IOReturn result, static void hid_device_removal_callback(void *context, IOReturn result,
void *sender) void *sender)
{ {
@ -555,7 +596,8 @@ static void hid_device_removal_callback(void *context, IOReturn result,
hid_device *d = context; hid_device *d = context;
d->disconnected = 1; d->disconnected = 1;
CFRunLoopStop(d->run_loop);
stop_run_loop(d);
} }
/* The Run Loop calls this function for each input report received. /* The Run Loop calls this function for each input report received.
@ -614,7 +656,8 @@ static void hid_report_callback(void *context, IOReturn result, void *sender,
static void perform_signal_callback(void *context) static void perform_signal_callback(void *context)
{ {
hid_device *dev = context; hid_device *dev = context;
CFRunLoopStop(dev->run_loop); /*TODO: CFRunLoopGetCurrent()*/
stop_run_loop(dev);
} }
static void *read_thread(void *param) static void *read_thread(void *param)

2
ground/gcs/src/plugins/ophid/src/ophid_hidapi.cpp
View File

@ -163,7 +163,7 @@ int opHID_hidapi::open(int max, int vid, int pid, int usage_page, int usage)
devices_found = false; devices_found = false;
} else { } else {
OPHID_DEBUG("HID Device Found"); OPHID_DEBUG("HID Device Found");
OPHID_DEBUG(" type:............VID(%04hx).PID(%04hx)", vid, pid); OPHID_DEBUG(" type:............VID(%04hx).PID(%04hx)", (unsigned short)vid, (unsigned short)pid);
devices_found = true; devices_found = true;
} }
} else { } else {