fix console_buffer: avoid potential deadlock when using dmesg over MAVLink shell

dmesg was locking the console buffer, then writing to stdout (a pipe in
the case of the MAVLink shell).
This might block, waiting for mavlink to read from the pipe. If however
mavlink tries to write to the console at that time, the lock is already
taken.
This patch avoids nested locking by using a separate buffer.

platforms/nuttx/src/px4/common/console_buffer.cpp

@@ -67,50 +67,47 @@ private:
 	int _head{0};
 	int _tail{0};
 	px4_sem_t _lock = SEM_INITIALIZER(1);
-	bool _is_printing{false};
-	pthread_t _printing_task;
 };
 
 void ConsoleBuffer::print(bool follow)
 {
-	lock();
+	// print to stdout, but with a buffer in between to avoid nested locking and potential dead-locks
-	_printing_task = pthread_self();
+	// (which could happen in combination with the MAVLink shell: dmesg writing to the pipe waiting
-	int i = _head;
+	// mavlink to read, while mavlink calls printf, waiting for the console lock)
+	const int buffer_length = 512;
+	char buffer[buffer_length];
+	int offset = -1;
+
+	do {
 
-	while (true) {
+		// print the full buffer or what's newly added
-		_is_printing = true;
+		int total_size_read = 0;
 
-		if (i < _tail) {
+		do {
-			::write(1, _buffer + i, _tail - i);
+			int read_size = read(buffer, buffer_length, &offset);
 
-		} else if (_tail < i) {
+			if (read_size <= 0) {
-			::write(1, _buffer + i, BOARD_CONSOLE_BUFFER_SIZE - i);
+				break;
-			::write(1, _buffer, _tail);
 			}
 
-		i = _tail;
+			::write(1, buffer, read_size);
+
+			if (read_size < buffer_length) {
+				break;
+			}
+
+			total_size_read += read_size;
+		} while (total_size_read < BOARD_CONSOLE_BUFFER_SIZE);
 
-		_is_printing = false;
 
 		if (follow) {
-			unlock();
 			usleep(10000);
-			lock();
-
-		} else {
-			break;
-		}
 		}
-
+	} while (follow);
-	unlock();
 }
 
 void ConsoleBuffer::write(const char *buffer, size_t len)
 {
-	if (_is_printing && pthread_self() == _printing_task) { // avoid adding to the buffer while we are printing it
-		return;
-	}
-
 	lock(); // same rule as for printf: this cannot be used from IRQ handlers
 
 	for (size_t i = 0; i < len; ++i) {