forked from Archive/PX4-Autopilot
system: add generic shutdown API
This commit is contained in:
parent
211837c73b
commit
694bf48422
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@ -103,7 +103,7 @@ static char *param_user_file = NULL;
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#include <px4_workqueue.h>
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/* autosaving variables */
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static hrt_abstime last_autosave_timestamp = 0;
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struct work_s autosave_work;
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static struct work_s autosave_work;
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static bool autosave_scheduled = false;
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static bool autosave_disabled = false;
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#endif /* PARAM_NO_AUTOSAVE */
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@ -89,7 +89,7 @@ static char *param_user_file = NULL;
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#include <px4_workqueue.h>
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/* autosaving variables */
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static hrt_abstime last_autosave_timestamp = 0;
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struct work_s autosave_work;
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static struct work_s autosave_work;
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static bool autosave_scheduled = false;
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static bool autosave_disabled = false;
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@ -42,6 +42,7 @@ px4_add_module(
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MODULE platforms__common
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SRCS
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px4_getopt.c
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shutdown.cpp
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DEPENDS
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${depends}
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)
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@ -0,0 +1,172 @@
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/****************************************************************************
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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.cpp
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* Implementation of the API declared in px4_shutdown.h.
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*/
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#include <board_config.h>
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#include <px4_log.h>
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#include <px4_workqueue.h>
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#include <px4_shutdown.h>
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#include <px4_tasks.h>
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#include <stdint.h>
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#include <errno.h>
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#include <pthread.h>
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static struct work_s shutdown_work = {};
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static uint8_t shutdown_counter = 0;
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#define SHUTDOWN_ARG_IN_PROGRESS (1<<0)
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#define SHUTDOWN_ARG_REBOOT (1<<1)
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#define SHUTDOWN_ARG_TO_BOOTLOADER (1<<2)
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static uint8_t shutdown_args = 0;
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pthread_mutex_t shutdown_hooks_mutex = PTHREAD_MUTEX_INITIALIZER; // protects access to shutdown_hooks
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static const int max_shutdown_hooks = 1;
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static shutdown_hook_t shutdown_hooks[max_shutdown_hooks] = {};
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static const int shutdown_timeout_ms = 300; // force shutdown after this time if modules do not respond in time
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/**
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* work queue callback method to shutdown.
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* @param arg unused
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*/
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static void shutdown_worker(void *arg);
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int px4_register_shutdown_hook(shutdown_hook_t hook)
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{
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pthread_mutex_lock(&shutdown_hooks_mutex);
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for (int i = 0; i < max_shutdown_hooks; ++i) {
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if (!shutdown_hooks[i]) {
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shutdown_hooks[i] = hook;
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pthread_mutex_unlock(&shutdown_hooks_mutex);
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return 0;
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}
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}
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pthread_mutex_unlock(&shutdown_hooks_mutex);
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return -ENOMEM;
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}
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int px4_unregister_shutdown_hook(shutdown_hook_t hook)
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{
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pthread_mutex_lock(&shutdown_hooks_mutex);
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for (int i = 0; i < max_shutdown_hooks; ++i) {
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if (shutdown_hooks[i] == hook) {
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shutdown_hooks[i] = nullptr;
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pthread_mutex_unlock(&shutdown_hooks_mutex);
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return 0;
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}
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}
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pthread_mutex_unlock(&shutdown_hooks_mutex);
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return -EINVAL;
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}
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void shutdown_worker(void *arg)
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{
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PX4_DEBUG("shutdown worker (%i)", shutdown_counter);
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bool done = true;
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pthread_mutex_lock(&shutdown_hooks_mutex);
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for (int i = 0; i < max_shutdown_hooks; ++i) {
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if (shutdown_hooks[i]) {
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if (!shutdown_hooks[i]()) {
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done = false;
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}
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}
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}
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pthread_mutex_unlock(&shutdown_hooks_mutex);
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if (done || ++shutdown_counter > shutdown_timeout_ms / 10) {
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if (shutdown_args & SHUTDOWN_ARG_REBOOT) {
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PX4_WARN("Reboot NOW.");
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px4_systemreset(shutdown_args & SHUTDOWN_ARG_TO_BOOTLOADER);
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} else {
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PX4_WARN("Shutdown NOW. Good Bye.");
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board_shutdown();
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}
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} else {
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work_queue(HPWORK, &shutdown_work, (worker_t)&shutdown_worker, NULL, USEC2TICK(10000));
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}
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}
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int px4_shutdown_request(bool reboot, bool to_bootloader)
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{
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// fail immediately if the board does not support the requested method
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#if defined BOARD_HAS_NO_RESET
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if (reboot) {
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return -EINVAL;
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}
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#endif
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#if !defined(BOARD_HAS_POWER_CONTROL)
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if (!reboot) {
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return -EINVAL;
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}
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#endif
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if (shutdown_args & SHUTDOWN_ARG_IN_PROGRESS) {
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return 0;
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}
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shutdown_args |= SHUTDOWN_ARG_IN_PROGRESS;
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if (reboot) {
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shutdown_args |= SHUTDOWN_ARG_REBOOT;
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}
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if (to_bootloader) {
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shutdown_args |= SHUTDOWN_ARG_TO_BOOTLOADER;
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}
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return work_queue(HPWORK, &shutdown_work, (worker_t)&shutdown_worker, NULL, USEC2TICK(0));
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}
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@ -0,0 +1,86 @@
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/****************************************************************************
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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 px4_shutdown.h
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* Power-related API
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*/
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#pragma once
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#include <stdbool.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 shut down. It's save to call this from an IRQ context,
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* but the work queues need to be initialized already.
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* Note the following:
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* - The system might not support to shutdown (or 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 reboot perform a reboot instead of a shutdown
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* @param to_bootloader reboot into bootloader mode (only used if reboot is true)
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* @return 0 on success, <0 on error
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*/
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__EXPORT int px4_shutdown_request(bool reboot, bool to_bootloader);
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__END_DECLS
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@ -103,7 +103,8 @@ typedef int (*px4_main_t)(int argc, char *argv[]);
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__BEGIN_DECLS
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/** Reboots the board */
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/** Reboots the board (without waiting for clean shutdown). Modules should use px4_shutdown_request() in most cases.
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*/
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__EXPORT void px4_systemreset(bool to_bootloader) noreturn_function;
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/** Starts a task and performs any specific accounting, scheduler setup, etc. */
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