void shutdown_worker(void *arg)
{
PX4_DEBUG("shutdown worker (%i)", shutdown_counter);
bool done = true;
pthread_mutex_lock(&shutdown_mutex);
for (int i = 0; i < max_shutdown_hooks; ++i) {
if (shutdown_hooks[i]) {
if (!shutdown_hooks[i]()) {
done = false;
}
}
}
if ((done && shutdown_lock_counter == 0) || ++shutdown_counter > shutdown_timeout_ms / 10) {
if (shutdown_args & SHUTDOWN_ARG_REBOOT) {
PX4_WARN("Reboot NOW.");
px4_systemreset(shutdown_args & SHUTDOWN_ARG_TO_BOOTLOADER);
} else {
PX4_WARN("Shutdown NOW. Good Bye.");
board_shutdown();
}
pthread_mutex_unlock(&shutdown_mutex); // must NEVER come here
} else {
pthread_mutex_unlock(&shutdown_mutex);
work_queue(HPWORK, &shutdown_work, (worker_t)&shutdown_worker, nullptr, USEC2TICK(10000));
}
}
/* Everything needed to cleanly shutdown barebox.
* Should be called before starting an OS to get
* the devices into a clean state
*/
void shutdown_barebox(void)
{
devices_shutdown();
#ifdef ARCH_SHUTDOWN
arch_shutdown();
#endif
if (board_shutdown)
board_shutdown();
}
int px4_shutdown_request(bool reboot, bool to_bootloader)
{
int ret = 0;
pthread_mutex_lock(&shutdown_mutex);
// FIXME: if shutdown_lock_counter > 0, we should wait, but unfortunately we don't have work queues
if (reboot) {
px4_systemreset(to_bootloader);
} else {
ret = board_shutdown();
}
pthread_mutex_unlock(&shutdown_mutex);
return ret;
}
static int board_button_irq(int irq, FAR void *context)
{
static struct timespec time_down;
if (board_pwr_button_down()) {
led_on(BOARD_LED_RED);
clock_gettime(CLOCK_REALTIME, &time_down);
power_state_notification(PWR_BUTTON_DOWN);
} else {
power_state_notification(PWR_BUTTON_UP);
led_off(BOARD_LED_RED);
struct timespec now;
clock_gettime(CLOCK_REALTIME, &now);
uint64_t tdown_ms = time_down.tv_sec * 1000 + time_down.tv_nsec / 1000000;
uint64_t tnow_ms = now.tv_sec * 1000 + now.tv_nsec / 1000000;
if (tdown_ms != 0 && (tnow_ms - tdown_ms) >= MS_PWR_BUTTON_DOWN) {
led_on(BOARD_LED_BLUE);
if (power_state_notification(PWR_BUTTON_REQUEST_SHUT_DOWN) == PWR_BUTTON_RESPONSE_SHUT_DOWN_NOW) {
up_mdelay(200);
board_shutdown();
}
} else {
power_state_notification(PWR_BUTTON_IDEL);
}
}
return OK;
}