void workqueue_exit(struct workqueue *wq)
{
unsigned int shutdown, sum_cnt = 0;
struct submit_worker *sw;
int i;
for (i = 0; i < wq->max_workers; i++) {
sw = &wq->workers[i];
pthread_mutex_lock(&sw->lock);
sw->flags |= SW_F_EXIT;
pthread_cond_signal(&sw->cond);
pthread_mutex_unlock(&sw->lock);
}
do {
shutdown = 0;
for (i = 0; i < wq->max_workers; i++) {
sw = &wq->workers[i];
if (sw->flags & SW_F_ACCOUNTED)
continue;
sw->flags |= SW_F_ACCOUNTED;
shutdown_worker(sw, &sum_cnt);
shutdown++;
}
} while (shutdown && shutdown != wq->max_workers);
free(wq->workers);
pthread_mutex_destroy(&wq->flush_lock);
pthread_cond_destroy(&wq->flush_cond);
pthread_mutex_destroy(&wq->stat_lock);
}
int px4_shutdown_request(bool reboot, bool to_bootloader)
{
// fail immediately if the board does not support the requested method
#if defined BOARD_HAS_NO_RESET
if (reboot) {
return -EINVAL;
}
#endif
#if !defined(BOARD_HAS_POWER_CONTROL)
if (!reboot) {
return -EINVAL;
}
#endif
if (shutdown_args & SHUTDOWN_ARG_IN_PROGRESS) {
return 0;
}
shutdown_args |= SHUTDOWN_ARG_IN_PROGRESS;
if (reboot) {
shutdown_args |= SHUTDOWN_ARG_REBOOT;
}
if (to_bootloader) {
shutdown_args |= SHUTDOWN_ARG_TO_BOOTLOADER;
}
shutdown_worker(nullptr);
return 0;
}