commander: reboot/shutdown usability fixes

- 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

src/systemcmds/reboot/CMakeLists.txt

@@ -35,7 +35,8 @@ px4_add_module(
 	MAIN reboot
 	COMPILE_FLAGS
 	SRCS
-		reboot.c
+		reboot.cpp
 	DEPENDS
+		px4_platform
 	)
 

src/systemcmds/reboot/reboot.cpp

@@ -45,9 +45,7 @@
 #include <px4_platform_common/shutdown.h>
 #include <string.h>
 
-__EXPORT int reboot_main(int argc, char *argv[]);
-
-static void print_usage(void)
+static void print_usage()
 {
 	PRINT_MODULE_DESCRIPTION("Reboot the system");
 
@@ -57,13 +55,13 @@ static void print_usage(void)
 	PRINT_MODULE_USAGE_ARG("lock|unlock", "Take/release the shutdown lock (for testing)", true);
 }
 
-int reboot_main(int argc, char *argv[])
+extern "C" __EXPORT int reboot_main(int argc, char *argv[])
 {
 	int ch;
 	bool to_bootloader = false;
 
 	int myoptind = 1;
-	const char *myoptarg = NULL;
+	const char *myoptarg = nullptr;
 
 	while ((ch = px4_getopt(argc, argv, "b", &myoptind, &myoptarg)) != -1) {
 		switch (ch) {
@@ -100,7 +98,7 @@ int reboot_main(int argc, char *argv[])
 		return ret;
 	}
 
-	int ret = px4_shutdown_request(true, to_bootloader);
+	int ret = px4_reboot_request(to_bootloader);
 
 	if (ret < 0) {
 		PX4_ERR("reboot failed (%i)", ret);

src/systemcmds/shutdown/CMakeLists.txt

@@ -33,7 +33,6 @@
 px4_add_module(
 	MODULE systemcmds__shutdown
 	MAIN shutdown
-	COMPILE_FLAGS
 	SRCS
-		shutdown.c
+		shutdown.cpp
 	)

src/systemcmds/shutdown/shutdown.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2016 PX4 Development Team. All rights reserved.
+ *   Copyright (C) 2016-2020 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -35,16 +35,10 @@
  * @file shutdown.c
  * Tool similar to UNIX shutdown command.
  */
-
+#include <px4_platform_common/shutdown.h>
 #include <px4_platform_common/tasks.h>
 
-__EXPORT int shutdown_main(int argc, char *argv[]);
-
-int shutdown_main(int argc, char *argv[])
+extern "C" __EXPORT int shutdown_main(int argc, char *argv[])
 {
-	(void)argc;
-	(void)argv;
-
-	const bool to_bootloader = false;
-	px4_systemreset(to_bootloader);
+	return px4_shutdown_request();
 }

src/systemcmds/tests/CMakeLists.txt

@@ -58,7 +58,6 @@ set(srcs
 	test_microbench_matrix.cpp
 	test_microbench_uorb.cpp
 	test_mixer.cpp
-	test_mount.c
 	test_param.c
 	test_parameters.cpp
 	test_perf.c
@@ -80,6 +79,7 @@ set(srcs
 
 if(${PX4_PLATFORM} STREQUAL "nuttx")
 	list(APPEND srcs
+		test_mount.cpp
 		test_time.c
 		test_uart_break.c
 		)

src/systemcmds/tests/test_mount.cpp

@@ -40,6 +40,7 @@
 #include <px4_platform_common/px4_config.h>
 #include <px4_platform_common/posix.h>
 #include <px4_platform_common/tasks.h>
+#include <px4_platform_common/shutdown.h>
 
 #include <sys/stat.h>
 #include <dirent.h>
@@ -56,8 +57,7 @@
 const int fsync_tries = 1;
 const int abort_tries = 10;
 
-int
-test_mount(int argc, char *argv[])
+int test_mount(int argc, char *argv[])
 {
 	const unsigned iterations = 2000;
 	const unsigned alignments = 10;
@@ -289,7 +289,7 @@ test_mount(int argc, char *argv[])
 	fsync(fileno(stdout));
 	fsync(fileno(stderr));
 	px4_usleep(50000);
-	px4_systemreset(false);
+	px4_reboot_request();
 
 	/* never going to get here */
 	return 0;

src/systemcmds/tests/tests_main.c

@@ -69,6 +69,7 @@ const struct {
 #ifdef __PX4_NUTTX
 	{"file",		test_file,		OPT_NOJIGTEST | OPT_NOALLTEST},
 	{"led",			test_led,		0},
+	{"mount",		test_mount,		OPT_NOJIGTEST | OPT_NOALLTEST},
 	{"time",		test_time,		OPT_NOJIGTEST},
 	{"uart_baudchange",	test_uart_baudchange,	OPT_NOJIGTEST},
 	{"uart_break",		test_uart_break,	OPT_NOJIGTEST | OPT_NOALLTEST},
@@ -102,7 +103,6 @@ const struct {
 	{"microbench_uorb",	test_microbench_uorb,	0},
 	{"mixer",		test_mixer,		OPT_NOJIGTEST},
 	{"mixer",		test_mixer,		OPT_NOJIGTEST},
-	{"mount",		test_mount,		OPT_NOJIGTEST | OPT_NOALLTEST},
 	{"param",		test_param,		0},
 	{"parameters",		test_parameters,	0},
 	{"perf",		test_perf,		OPT_NOJIGTEST},