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fix(posix): guard px4_task_join/delete against negative task ids

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px4_task_t is a plain int and callers hold -1 for "no task" (e.g. dataman's
g_task_id after stop). The bounds checks only tested id < PX4_MAX_TASKS, which is
true for negative ids, so px4_task_join(-1) and px4_task_delete(-1) would index
taskmap[-1] out of bounds. Check id >= 0 as well.

Signed-off-by: Julian Oes <julian@oes.ch>
This commit is contained in:
Julian Oes
2026-07-01 15:16:08 +12:00
committed by Ramon Roche
parent d828e1b12d
commit 48a08e1633
1 changed files with 2 additions and 2 deletions
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4
platforms/posix/src/px4/common/tasks.cpp
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@@ -275,7 +275,7 @@ px4_task_t px4_task_spawn_cmd(const char *name, int scheduler, int priority, int
int px4_task_join(px4_task_t id)
{
if (id < PX4_MAX_TASKS) {
if (id >= 0 && id < PX4_MAX_TASKS) {
pthread_mutex_lock(&task_mutex);
pthread_t pid = taskmap[id].pid;
pthread_mutex_unlock(&task_mutex);
@@ -294,7 +294,7 @@ int px4_task_delete(px4_task_t id)
pthread_t pid;
PX4_DEBUG("Called px4_task_delete");
if (id < PX4_MAX_TASKS && taskmap[id].isused) {
if (id >= 0 && id < PX4_MAX_TASKS && taskmap[id].isused) {
pid = taskmap[id].pid;
} else {