Merge pull request #2439 from mavlink/pr-fix-command-sender-locking

core: add missing locks in command queue
mavlink · Nov 12, 2024 · a81d258 · a81d258
2 parents 6a93d83 + e4f6386
commit a81d258
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Showing 2 changed files with 25 additions and 12 deletions.
diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
@@ -82,6 +82,7 @@ jobs:
     name: ${{ matrix.ubuntu_image }} (mavsdk_server, superbuild)
     runs-on: ${{ matrix.ubuntu_image }}
     strategy:
+      fail-fast: false
       matrix:
         include:
           - ubuntu_image: ubuntu-20.04
@@ -222,6 +223,7 @@ jobs:
     name: ${{ matrix.container_name }} (package, non-mavsdk_server)
     runs-on: ${{ matrix.container_name }}
     strategy:
+      fail-fast: false
       matrix:
         container_name: [ubuntu-20.04, ubuntu-22.04, ubuntu-24.04]
     steps:
@@ -258,6 +260,7 @@ jobs:
     name: linux-${{ matrix.docker_name }}
     runs-on: ubuntu-20.04
     strategy:
+      fail-fast: false
       matrix:
         include:
           - docker_name: armv6
@@ -356,6 +359,7 @@ jobs:
     name: ${{ matrix.arch_name }}
     runs-on: ubuntu-20.04
     strategy:
+      fail-fast: false
       matrix:
         arch_name: [linux-armv6-musl, linux-armv7l-musl, linux-arm64-musl]
     steps:
@@ -390,6 +394,7 @@ jobs:
     name: ${{ matrix.name }}
     runs-on: ubuntu-20.04
     strategy:
+      fail-fast: false
       matrix:
         include:
           - name: android-arm
@@ -434,6 +439,7 @@ jobs:
     name: ${{ matrix.name }}
     runs-on: ${{ matrix.runner }}
     strategy:
+      fail-fast: false
       matrix:
         include:
           - name: macOS x64
@@ -509,6 +515,7 @@ jobs:
     name: ${{ matrix.name }}
     runs-on: ${{ matrix.runner }}
     strategy:
+      fail-fast: false
       matrix:
         include:
           - name: ios

diff --git a/src/mavsdk/core/mavlink_command_sender.cpp b/src/mavsdk/core/mavlink_command_sender.cpp
@@ -88,13 +88,16 @@ void MavlinkCommandSender::queue_command_async(
 
     CommandIdentification identification = identification_from_command(command);
 
-    for (const auto& work : _work_queue) {
-        if (work->identification == identification && callback == nullptr) {
-            if (_command_debugging) {
-                LogDebug() << "Dropping command " << static_cast<int>(identification.command)
-                           << " that is already being sent";
+    {
+        LockedQueue<Work>::Guard work_queue_guard(_work_queue);
+        for (const auto& work : _work_queue) {
+            if (work->identification == identification && callback == nullptr) {
+                if (_command_debugging) {
+                    LogDebug() << "Dropping command " << static_cast<int>(identification.command)
+                               << " that is already being sent";
+                }
+                return;
             }
-            return;
         }
     }
 
@@ -117,13 +120,16 @@ void MavlinkCommandSender::queue_command_async(
 
     CommandIdentification identification = identification_from_command(command);
 
-    for (const auto& work : _work_queue) {
-        if (work->identification == identification && callback == nullptr) {
-            if (_command_debugging) {
-                LogDebug() << "Dropping command " << static_cast<int>(identification.command)
-                           << " that is already being sent";
+    {
+        LockedQueue<Work>::Guard work_queue_guard(_work_queue);
+        for (const auto& work : _work_queue) {
+            if (work->identification == identification && callback == nullptr) {
+                if (_command_debugging) {
+                    LogDebug() << "Dropping command " << static_cast<int>(identification.command)
+                               << " that is already being sent";
+                }
+                return;
             }
-            return;
         }
     }