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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
2020-05-06 13:53:54 -04:00
parent 45ebbb895a
commit 746a8f5cf9
96 changed files with 332 additions and 528 deletions
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platforms/common/shutdown.cpp
+77 -77
View File
@@ -36,12 +36,13 @@
* Implementation of the API declared in px4_shutdown.h.
*/
#include <board_config.h>
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/workqueue.h>
#include <px4_platform_common/shutdown.h>
#include <px4_platform_common/tasks.h>
#include <drivers/drv_hrt.h>
#ifndef MODULE_NAME
#define MODULE_NAME "shutdown"
#endif
@@ -52,6 +53,12 @@
#include <errno.h>
#include <pthread.h>
#ifdef __PX4_NUTTX
#include <nuttx/board.h>
#endif
using namespace time_literals;
static pthread_mutex_t shutdown_mutex =
PTHREAD_MUTEX_INITIALIZER; // protects access to shutdown_hooks & shutdown_lock_counter
static uint8_t shutdown_lock_counter = 0;
@@ -86,39 +93,7 @@ int px4_shutdown_unlock()
return ret;
}
#if (defined(__PX4_NUTTX) && !defined(CONFIG_SCHED_WORKQUEUE)) || __PX4_QURT
// minimal NuttX/QuRT build without work queue support
int px4_register_shutdown_hook(shutdown_hook_t hook)
{
return -EINVAL;
}
int px4_unregister_shutdown_hook(shutdown_hook_t hook)
{
return -EINVAL;
}
int px4_shutdown_request(bool reboot, bool to_bootloader)
{
int ret = 0;
pthread_mutex_lock(&shutdown_mutex);
// FIXME: if shutdown_lock_counter > 0, we should wait, but unfortunately we don't have work queues
if (reboot) {
px4_systemreset(to_bootloader);
} else {
ret = board_shutdown();
}
pthread_mutex_unlock(&shutdown_mutex);
return ret;
}
#else
#if defined(CONFIG_SCHED_WORKQUEUE)
static struct work_s shutdown_work = {};
static uint16_t shutdown_counter = 0; ///< count how many times the shutdown worker was executed
@@ -128,20 +103,12 @@ static uint16_t shutdown_counter = 0; ///< count how many times the shutdown wor
#define SHUTDOWN_ARG_TO_BOOTLOADER (1<<2)
static uint8_t shutdown_args = 0;
static const int max_shutdown_hooks = 1;
static constexpr int max_shutdown_hooks = 1;
static shutdown_hook_t shutdown_hooks[max_shutdown_hooks] = {};
static const int shutdown_timeout_ms = 5000; ///< force shutdown after this time if modules do not respond in time
/**
* work queue callback method to shutdown.
* @param arg unused
*/
static void shutdown_worker(void *arg);
static hrt_abstime shutdown_time_us = 0;
static constexpr hrt_abstime shutdown_timeout_us =
5_s; ///< force shutdown after this time if modules do not respond in time
int px4_register_shutdown_hook(shutdown_hook_t hook)
{
@@ -175,9 +142,11 @@ int px4_unregister_shutdown_hook(shutdown_hook_t hook)
return -EINVAL;
}
void shutdown_worker(void *arg)
/**
* work queue callback method to shutdown.
* @param arg unused
*/
static void shutdown_worker(void *arg)
{
PX4_DEBUG("shutdown worker (%i)", shutdown_counter);
bool done = true;
@@ -192,14 +161,29 @@ void shutdown_worker(void *arg)
}
}
if ((done && shutdown_lock_counter == 0) || ++shutdown_counter > shutdown_timeout_ms / 10) {
const hrt_abstime now = hrt_absolute_time();
const bool delay_elapsed = (now > shutdown_time_us);
if (delay_elapsed && ((done && shutdown_lock_counter == 0) || (now > (shutdown_time_us + shutdown_timeout_us)))) {
if (shutdown_args & SHUTDOWN_ARG_REBOOT) {
PX4_WARN("Reboot NOW.");
px4_systemreset(shutdown_args & SHUTDOWN_ARG_TO_BOOTLOADER);
#if defined(CONFIG_BOARDCTL_RESET)
PX4_INFO_RAW("Reboot NOW.");
board_reset(shutdown_args & SHUTDOWN_ARG_TO_BOOTLOADER);
#else
PX4_PANIC("board reset not available");
#endif
} else {
PX4_WARN("Shutdown NOW. Good Bye.");
board_shutdown();
#if defined(CONFIG_BOARDCTL_POWEROFF)
PX4_INFO_RAW("Powering off NOW.");
board_power_off(0);
#elif !defined(CONFIG_BOARDCTL_POWEROFF) && defined(__PX4_POSIX)
// simply exit on posix if real shutdown (poweroff) not available
PX4_INFO_RAW("Exiting NOW.");
system_exit(0);
#else
PX4_PANIC("board shutdown not available");
#endif
}
pthread_mutex_unlock(&shutdown_mutex); // must NEVER come here
@@ -210,40 +194,56 @@ void shutdown_worker(void *arg)
}
}
int px4_shutdown_request(bool reboot, bool to_bootloader)
#if defined(CONFIG_BOARDCTL_RESET)
int px4_reboot_request(bool to_bootloader, uint32_t delay_us)
{
// fail immediately if the board does not support the requested method
#if defined BOARD_HAS_NO_RESET
if (reboot) {
return -EINVAL;
}
#endif
#if !defined(BOARD_HAS_POWER_CONTROL)
if (!reboot) {
return -EINVAL;
}
#endif
pthread_mutex_lock(&shutdown_mutex);
if (shutdown_args & SHUTDOWN_ARG_IN_PROGRESS) {
pthread_mutex_unlock(&shutdown_mutex);
return 0;
}
shutdown_args |= SHUTDOWN_ARG_IN_PROGRESS;
if (reboot) {
shutdown_args |= SHUTDOWN_ARG_REBOOT;
}
shutdown_args |= SHUTDOWN_ARG_REBOOT;
if (to_bootloader) {
shutdown_args |= SHUTDOWN_ARG_TO_BOOTLOADER;
}
shutdown_worker(nullptr);
shutdown_time_us = hrt_absolute_time();
if (delay_us > 0) {
shutdown_time_us += delay_us;
}
work_queue(HPWORK, &shutdown_work, (worker_t)&shutdown_worker, nullptr, 1);
pthread_mutex_unlock(&shutdown_mutex);
return 0;
}
#endif // CONFIG_BOARDCTL_RESET
#if defined(CONFIG_BOARDCTL_POWEROFF) || defined(__PX4_POSIX)
int px4_shutdown_request(uint32_t delay_us)
{
pthread_mutex_lock(&shutdown_mutex);
#endif /* (defined(__PX4_NUTTX) && !defined(CONFIG_SCHED_WORKQUEUE)) || __PX4_QURT */
if (shutdown_args & SHUTDOWN_ARG_IN_PROGRESS) {
pthread_mutex_unlock(&shutdown_mutex);
return 0;
}
shutdown_args |= SHUTDOWN_ARG_IN_PROGRESS;
shutdown_time_us = hrt_absolute_time();
if (delay_us > 0) {
shutdown_time_us += delay_us;
}
work_queue(HPWORK, &shutdown_work, (worker_t)&shutdown_worker, nullptr, 1);
pthread_mutex_unlock(&shutdown_mutex);
return 0;
}
#endif // CONFIG_BOARDCTL_POWEROFF
#endif // CONFIG_SCHED_WORKQUEUE)