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121 lines
4.1 KiB
C
121 lines
4.1 KiB
C
/****************************************************************************
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*
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* Copyright (C) 2017 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 shutdown.h
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* Power-related API
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*/
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#pragma once
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#include <px4_platform_common/px4_config.h>
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#include <stdbool.h>
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#include <inttypes.h>
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__BEGIN_DECLS
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/**
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* Shutdown hook callback method (@see px4_register_shutdown_hook()).
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* @return true if it's ok to shutdown, false if more time needed for cleanup
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*/
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typedef bool (*shutdown_hook_t)(void);
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/**
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* Register a method that should be called when powering off (and also on reboot).
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* @param hook callback method. It must not block, but return immediately.
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* When the system is requested to shutdown, the registered hooks will be
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* called regularily until either all of them return true, or a timeout
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* is reached.
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* @return 0 on success, <0 on error
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*/
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__EXPORT int px4_register_shutdown_hook(shutdown_hook_t hook);
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/**
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* Unregister a shutdown hook
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* @param hook callback method to be removed
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* @return 0 on success, <0 on error
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*/
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__EXPORT int px4_unregister_shutdown_hook(shutdown_hook_t hook);
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/**
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* Request the system to reboot.
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* Note the following:
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* - The system might not support reboot. In that case -EINVAL will
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* be returned.
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* - The system might not shutdown immediately, so expect this method to return even
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* on success.
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* @param to_bootloader reboot into bootloader mode (only used if reboot is true)
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* @param delay_us optional delay in microseconds
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* @return 0 on success, <0 on error
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*/
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#if defined(CONFIG_BOARDCTL_RESET)
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__EXPORT int px4_reboot_request(bool to_bootloader = false, uint32_t delay_us = 0);
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#endif // CONFIG_BOARDCTL_RESET
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/**
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* Request the system to shut down or reboot.
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* Note the following:
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* - The system might not support shutdown. In that case -EINVAL will
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* be returned.
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* - The system might not shutdown immediately, so expect this method to return even
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* on success.
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* @param delay_us optional delay in microseconds
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* @return 0 on success, <0 on error
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*/
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#if defined(BOARD_HAS_POWER_CONTROL) || defined(__PX4_POSIX)
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__EXPORT int px4_shutdown_request(uint32_t delay_us = 0);
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#endif // BOARD_HAS_POWER_CONTROL
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/**
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* Grab the shutdown lock. It will prevent the system from shutting down until the lock is released.
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* It is safe to call this recursively.
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* @return 0 on success, <0 on error
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*/
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__EXPORT int px4_shutdown_lock(void);
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/**
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* Release the shutdown lock.
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* @return 0 on success, <0 on error
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*/
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__EXPORT int px4_shutdown_unlock(void);
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__END_DECLS
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