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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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746a8f5cf9
- 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
112 lines
3.2 KiB
C++
112 lines
3.2 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2012-2018 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file reboot.c
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* Tool similar to UNIX reboot command
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*
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* @author Lorenz Meier <lorenz@px4.io>
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*/
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#include <px4_platform_common/px4_config.h>
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#include <px4_platform_common/getopt.h>
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#include <px4_platform_common/log.h>
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#include <px4_platform_common/module.h>
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#include <px4_platform_common/shutdown.h>
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#include <string.h>
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static void print_usage()
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{
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PRINT_MODULE_DESCRIPTION("Reboot the system");
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PRINT_MODULE_USAGE_NAME_SIMPLE("reboot", "command");
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PRINT_MODULE_USAGE_PARAM_FLAG('b', "Reboot into bootloader", true);
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PRINT_MODULE_USAGE_ARG("lock|unlock", "Take/release the shutdown lock (for testing)", true);
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}
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extern "C" __EXPORT int reboot_main(int argc, char *argv[])
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{
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int ch;
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bool to_bootloader = false;
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int myoptind = 1;
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const char *myoptarg = nullptr;
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while ((ch = px4_getopt(argc, argv, "b", &myoptind, &myoptarg)) != -1) {
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switch (ch) {
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case 'b':
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to_bootloader = true;
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break;
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default:
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print_usage();
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return 1;
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}
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}
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if (myoptind >= 0 && myoptind < argc) {
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int ret = -1;
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if (strcmp(argv[myoptind], "lock") == 0) {
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ret = px4_shutdown_lock();
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if (ret != 0) {
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PX4_ERR("lock failed (%i)", ret);
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}
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}
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if (strcmp(argv[myoptind], "unlock") == 0) {
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ret = px4_shutdown_unlock();
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if (ret != 0) {
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PX4_ERR("unlock failed (%i)", ret);
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}
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}
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return ret;
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}
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int ret = px4_reboot_request(to_bootloader);
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if (ret < 0) {
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PX4_ERR("reboot failed (%i)", ret);
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return -1;
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}
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while (1) { px4_usleep(1); } // this command should not return on success
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return 0;
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}
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