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HAL_SITL: implement reboot support

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This commit is contained in:
Pierre Kancir 2018-05-28 18:20:30 +02:00 committed by Peter Barker
parent 7732b41186
commit b615677223
3 changed files with 6 additions and 2 deletions
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4
libraries/AP_HAL_SITL/HAL_SITL_Class.cpp
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@ -84,10 +84,12 @@ void HAL_SITL::run(int argc, char * const argv[], Callbacks* callbacks) const
callbacks->setup(); callbacks->setup();
scheduler->system_initialized(); scheduler->system_initialized();
for (;;) { while (!HALSITL::Scheduler::_should_reboot) {
callbacks->loop(); callbacks->loop();
HALSITL::Scheduler::_run_io_procs(false); HALSITL::Scheduler::_run_io_procs(false);
} }
execv(argv[0], argv);
AP_HAL::panic("PANIC: REBOOT FAILED");
} }
const AP_HAL::HAL& AP_HAL::get_HAL() { const AP_HAL::HAL& AP_HAL::get_HAL() {

3
libraries/AP_HAL_SITL/Scheduler.cpp
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@ -23,6 +23,7 @@ bool Scheduler::_in_timer_proc = false;
AP_HAL::MemberProc Scheduler::_io_proc[SITL_SCHEDULER_MAX_TIMER_PROCS] = {nullptr}; AP_HAL::MemberProc Scheduler::_io_proc[SITL_SCHEDULER_MAX_TIMER_PROCS] = {nullptr};
uint8_t Scheduler::_num_io_procs = 0; uint8_t Scheduler::_num_io_procs = 0;
bool Scheduler::_in_io_proc = false; bool Scheduler::_in_io_proc = false;
bool Scheduler::_should_reboot = false;
Scheduler::Scheduler(SITL_State *sitlState) : Scheduler::Scheduler(SITL_State *sitlState) :
_sitlState(sitlState), _sitlState(sitlState),
@ -130,7 +131,7 @@ void Scheduler::sitl_end_atomic() {
void Scheduler::reboot(bool hold_in_bootloader) void Scheduler::reboot(bool hold_in_bootloader)
{ {
hal.uartA->printf("REBOOT NOT IMPLEMENTED\r\n\n"); _should_reboot = true;
} }
void Scheduler::_run_timer_procs(bool called_from_isr) void Scheduler::_run_timer_procs(bool called_from_isr)

1
libraries/AP_HAL_SITL/Scheduler.h
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@ -50,6 +50,7 @@ public:
uint64_t stopped_clock_usec() const { return _stopped_clock_usec; } uint64_t stopped_clock_usec() const { return _stopped_clock_usec; }
static void _run_io_procs(bool called_from_isr); static void _run_io_procs(bool called_from_isr);
static bool _should_reboot;
private: private:
SITL_State *_sitlState; SITL_State *_sitlState;