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commander: reboot/shutdown usability fixes

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- always check with state machine before reboot/shutdown
 - respect BOARD_HAS_POWER_CONTROL (shutdown from command, low battery, power button)
 - px4_shutdown_request add optional delay and always execute from HPWORK
 - px4_shutdown_request split out px4_reboot_request
This commit is contained in:
Daniel Agar
2020-05-04 12:33:31 -04:00
parent 45ebbb895a
commit 746a8f5cf9
96 changed files with 332 additions and 528 deletions
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platforms/common/include/px4_platform_common/shutdown.h
+26 -4
View File
@@ -38,7 +38,10 @@
#pragma once
#include <px4_platform_common/px4_config.h>
#include <stdbool.h>
#include <inttypes.h>
__BEGIN_DECLS
@@ -69,17 +72,34 @@ __EXPORT int px4_unregister_shutdown_hook(shutdown_hook_t hook);
/**
* Request the system to shut down or reboot.
* Request the system to reboot.
* Note the following:
* - The system might not support to shutdown (or reboot). In that case -EINVAL will
* - The system might not support reboot. In that case -EINVAL will
* be returned.
* - The system might not shutdown immediately, so expect this method to return even
* on success.
* @param reboot perform a reboot instead of a shutdown
* @param to_bootloader reboot into bootloader mode (only used if reboot is true)
* @param delay_us optional delay in microseconds
* @return 0 on success, <0 on error
*/
__EXPORT int px4_shutdown_request(bool reboot, bool to_bootloader);
#if defined(CONFIG_BOARDCTL_RESET)
__EXPORT int px4_reboot_request(bool to_bootloader = false, uint32_t delay_us = 0);
#endif // CONFIG_BOARDCTL_RESET
/**
* Request the system to shut down or reboot.
* Note the following:
* - The system might not support shutdown. In that case -EINVAL will
* be returned.
* - The system might not shutdown immediately, so expect this method to return even
* on success.
* @param delay_us optional delay in microseconds
* @return 0 on success, <0 on error
*/
#if defined(CONFIG_BOARDCTL_POWEROFF) || defined(__PX4_POSIX)
__EXPORT int px4_shutdown_request(uint32_t delay_us = 0);
#endif // CONFIG_BOARDCTL_POWEROFF
/**
@@ -89,10 +109,12 @@ __EXPORT int px4_shutdown_request(bool reboot, bool to_bootloader);
*/
__EXPORT int px4_shutdown_lock(void);
/**
* Release the shutdown lock.
* @return 0 on success, <0 on error
*/
__EXPORT int px4_shutdown_unlock(void);
__END_DECLS