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Fix mavlink shell #17065

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merged 4 commits into from
Mar 15, 2021
Merged

Fix mavlink shell #17065

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95f1477
CUAV X7Pro: Remove unused peripheral
LorenzMeier Mar 9, 2021
8401e0d
MAVLink shell: Do not print before creation
LorenzMeier Mar 9, 2021
42b59b2
Revert "MAVLink shell: Do not print before creation"
bkueng Mar 10, 2021
a996276
mavlink shell: lock scheduling to ensure nothing gets written to the …
bkueng Mar 10, 2021
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2 changes: 1 addition & 1 deletion boards/cuav/x7pro/default.cmake
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Original file line number Diff line number Diff line change
Expand Up @@ -37,7 +37,7 @@ px4_add_board(
imu/invensense/icm20649
imu/invensense/icm20689
irlock
lights/blinkm
#lights/blinkm
lights/rgbled
lights/rgbled_ncp5623c
lights/rgbled_pwm
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16 changes: 14 additions & 2 deletions src/modules/mavlink/mavlink_shell.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -84,8 +84,6 @@ int MavlinkShell::start()
* keeps (duplicates) the first 3 fd's when creating a new task, all others are not inherited.
* This means we need to temporarily change the first 3 fd's of the current task (or at least
* the first 2 if stdout=stderr).
* And we hope :-) that during the temporary phase, no other thread from the same task writes to
* stdout (as it would end up in the pipe).
*/

if (pipe(p1) != 0) {
Expand All @@ -105,6 +103,16 @@ int MavlinkShell::start()
_shell_fds[0] = p2[0];
_shell_fds[1] = p1[1];

/*
* Ensure that during the temporary phase no other thread from the same task writes to
* stdout (as it would end up in the pipe).
*/
#ifdef __PX4_NUTTX
sched_lock();
#endif /* __PX4_NUTTX */
fflush(stdout);
fflush(stderr);

int fd_backups[2]; //we don't touch stderr, we will redirect it to stdout in the startup of the shell task

for (int i = 0; i < 2; ++i) {
Expand Down Expand Up @@ -140,6 +148,10 @@ int MavlinkShell::start()
close(fd_backups[i]);
}

#ifdef __PX4_NUTTX
sched_unlock();
#endif /* __PX4_NUTTX */

//close unused pipe fd's
close(_shell_fds[0]);
close(_shell_fds[1]);
Expand Down