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[hal] Fix potential race in CANAPI #6819

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merged 4 commits into from
Jul 29, 2024
Merged

[hal] Fix potential race in CANAPI #6819

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cc08f98
fix potential race in CANAPI
rzblue Jul 9, 2024
62cea64
iwyu
rzblue Jul 9, 2024
20fba6b
remove status check in tx functions
rzblue Jul 27, 2024
1a0c448
Update sim too
rzblue Jul 27, 2024
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36 changes: 11 additions & 25 deletions hal/src/main/native/athena/CANAPI.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -7,6 +7,7 @@
#include <ctime>

#include <wpi/DenseMap.h>
#include <wpi/mutex.h>

#include "HALInitializer.h"
#include "hal/CAN.h"
Expand All @@ -26,8 +27,9 @@ 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
Expand Down Expand Up @@ -89,7 +91,7 @@ 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;
Expand All @@ -108,12 +110,8 @@ 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;
}

Expand All @@ -127,12 +125,8 @@ 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;
}

Expand All @@ -148,12 +142,8 @@ 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;
}

Expand All @@ -166,13 +156,9 @@ 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;
}

Expand All @@ -191,7 +177,7 @@ 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;
Expand All @@ -216,7 +202,7 @@ 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];
Expand Down Expand Up @@ -253,7 +239,7 @@ 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];
Expand Down
35 changes: 10 additions & 25 deletions hal/src/main/native/sim/CANAPI.cpp
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Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand Down Expand Up @@ -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;
Expand All @@ -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;
}

Expand All @@ -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;
}

Expand All @@ -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;
}

Expand All @@ -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;
}

Expand All @@ -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;
Expand All @@ -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];
Expand Down Expand Up @@ -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];
Expand Down
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