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autopilot manager: fix auto_restart_autopilot() race condition #3474

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Merged
merged 1 commit into from
Aug 9, 2025
Merged

autopilot manager: fix auto_restart_autopilot() race condition #3474

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8 changes: 6 additions & 2 deletions core/services/ardupilot_manager/autopilot_manager.py
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Original file line number Diff line number Diff line change
Expand Up @@ -499,8 +499,12 @@ def is_ardupilot_process(process: psutil.Process) -> bool:
"""Checks if given process is using a Ardupilot's firmware file, for any known platform."""
for platform in Platform:
firmware_path = self.firmware_manager.firmware_path(platform)
if str(firmware_path) in " ".join(process.cmdline()):
return True
try:
if str(firmware_path) in " ".join(process.cmdline()):
return True
except psutil.NoSuchProcess:
# process may have died before we could call cmdline()
pass
Comment on lines +502 to +507
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suggestion: Consider broadening exception handling to include AccessDenied and ZombieProcess.

psutil.cmdline() may also raise AccessDenied or ZombieProcess, so including these in the exception handling will improve reliability.

Suggested implementation:

                try:
                    if str(firmware_path) in " ".join(process.cmdline()):
                        return True
                except (psutil.NoSuchProcess, psutil.AccessDenied, psutil.ZombieProcess):
                    # process may have died, become a zombie, or access was denied before we could call cmdline()
                    pass

If psutil.AccessDenied and psutil.ZombieProcess are not already imported in this file, ensure that import psutil is present at the top of the file. If only specific exceptions are imported, add these two to the import statement.

return False

return list(filter(is_ardupilot_process, psutil.process_iter()))
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