reboot.c

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/**
 * @file reboot.c
 * Tool similar to UNIX reboot command
 *
 * @author Lorenz Meier <lorenz@px4.io>
 */

#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/getopt.h>
#include <px4_platform_common/log.h>
#include <px4_platform_common/module.h>
#include <px4_platform_common/shutdown.h>
#include <string.h>

__EXPORT int reboot_main(int argc, char *argv[]);

static void print_usage(void)
{
    PRINT_MODULE_DESCRIPTION("Reboot the system");

    PRINT_MODULE_USAGE_NAME_SIMPLE("reboot", "command");
    PRINT_MODULE_USAGE_PARAM_FLAG('b', "Reboot into bootloader", true);

    PRINT_MODULE_USAGE_ARG("lock|unlock", "Take/release the shutdown lock (for testing)", true);
}

int reboot_main(int argc, char *argv[])
{
    int ch;
    bool to_bootloader = false;

    int myoptind = 1;
    const char *myoptarg = NULL;

    while ((ch = px4_getopt(argc, argv, "b", &myoptind, &myoptarg)) != -1) {
        switch (ch) {
        case 'b':
            to_bootloader = true;
            break;

        default:
            print_usage();
            return 1;

        }
    }

    if (myoptind >= 0 && myoptind < argc) {
        int ret = -1;

        if (strcmp(argv[myoptind], "lock") == 0) {
            ret = px4_shutdown_lock();

            if (ret != 0) {
                PX4_ERR("lock failed (%i)", ret);
            }
        }

        if (strcmp(argv[myoptind], "unlock") == 0) {
            ret = px4_shutdown_unlock();

            if (ret != 0) {
                PX4_ERR("unlock failed (%i)", ret);
            }
        }

        return ret;
    }

    int ret = px4_shutdown_request(true, to_bootloader);

    if (ret < 0) {
        PX4_ERR("reboot failed (%i)", ret);
        return -1;
    }

    while (1) { px4_usleep(1); } // this command should not return on success

    return 0;
}