linguini1 opened a new issue, #15787:
URL: https://github.com/apache/nuttx/issues/15787
### Description / Steps to reproduce the issue
When a driver-level implementation of the `selftest` function returns a 0
(`OK`) error code, the uORB framework hangs indefinitely.
Steps to reproduce:
- Create a stub for the `selftest` function
- Return a negated error code from the selftest function unconditionally
- Call self-test through application layer using `orb_ioctl(fd,
SNIOC_SELFTEST, 0)`
- Observe failure with return of -1
- Change lower half `selftest` to return 0
- Observe application layer call hangs indefinitely
I observed this issue while writing a self-test function for the LSM6DSO32
IMU. When the selftest fails everything is fine, but when it passes the
function hangs forever. I was able to confirm this by adding a log statement at
the exit point and changing the return code to `-EACCESS` before the function
returns. The log statement gets executed and the function does not hang. It
does hang if I remove the error code change code and allow the function to
return 0.
```c
/* Other code above ...*/
early_ret:
nxmutex_unlock(&dev->devlock);
/* This gets printed and -1 shown by orb_ioctl when returning -EACCES */
sninfo("Finished selftest");
return -EACCES;
/* Commenting out the above line and replacing with 'return 0' results in
hang */
```
On a side note, `orb_ioctl(fd, SNIOC_RESET, 0)` returning -1 regardless of
the error returned by the lowerhalf function is not documented anywhere I could
find. I feel it should return a positive error code indicating the error that
occurred, like `ioctl` does.
### On which OS does this issue occur?
[OS: Linux]
### What is the version of your OS?
Linux 6.13.1-arch1-1 #1 SMP PREEMPT_DYNAMIC GNU/Linux
### NuttX Version
master
### Issue Architecture
[Arch: arm]
### Issue Area
[Area: OS Components]
### Host information
_No response_
### Verification
- [x] I have verified before submitting the report.
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