replay: close replay log file after replay is finished, then exit (#1…

…1264)
PX4 · Aug 28, 2019 · e50dd7c · e50dd7c
1 parent a20b508
commit e50dd7c
Show file tree

Hide file tree

Showing 6 changed files with 61 additions and 4 deletions.
diff --git a/boards/px4/sitl/src/CMakeLists.txt b/boards/px4/sitl/src/CMakeLists.txt
@@ -34,4 +34,6 @@
 add_library(drivers_board
 	${PX4_SOURCE_DIR}/src/drivers/boards/common/board_identity.c # TODO: this is horrible and should be fixed
 	sitl_led.c
+	sitl_board_shutdown.c
 )
+
diff --git a/boards/px4/sitl/src/board_config.h b/boards/px4/sitl/src/board_config.h
@@ -44,7 +44,7 @@
 
 #define BOARD_BATTERY1_V_DIV   (10.177939394f)
 #define BOARD_BATTERY1_A_PER_V (15.391030303f)
-#define BOARD_HAS_NO_RESET
+#define BOARD_HAS_POWER_CONTROL
 #define BOARD_HAS_NO_BOOTLOADER
 
 #define PX4_I2C_BUS_EXPANSION	1

diff --git a/boards/px4/sitl/src/sitl_board_shutdown.c b/boards/px4/sitl/src/sitl_board_shutdown.c
@@ -0,0 +1,52 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file sitl_board_shutdown.c
+ *
+ * sitl board shutdown backend.
+ */
+
+#include <px4_tasks.h>
+#include <board_config.h>
+
+int board_register_power_state_notification_cb(power_button_state_notification_t cb)
+{
+	return 0;
+}
+
+int board_shutdown()
+{
+	px4_systemreset(false);
+	return 0;
+}
diff --git a/platforms/posix/src/px4_layer/CMakeLists.txt b/platforms/posix/src/px4_layer/CMakeLists.txt
@@ -56,7 +56,7 @@ add_library(px4_layer
 target_compile_definitions(px4_layer PRIVATE MODULE_NAME="px4")
 target_compile_options(px4_layer PRIVATE -Wno-cast-align) # TODO: fix and enable
 target_link_libraries(px4_layer PRIVATE work_queue px4_work_queue)
-target_link_libraries(px4_layer PRIVATE px4_daemon)
+target_link_libraries(px4_layer PRIVATE px4_daemon drivers_board)
 
 if(ENABLE_LOCKSTEP_SCHEDULER)
 	target_link_libraries(px4_layer PRIVATE lockstep_scheduler)

diff --git a/src/modules/replay/replay_main.cpp b/src/modules/replay/replay_main.cpp
@@ -45,6 +45,7 @@
 #include <px4_posix.h>
 #include <px4_tasks.h>
 #include <px4_time.h>
+#include <px4_shutdown.h>
 
 #include <cstring>
 #include <float.h>
@@ -847,7 +848,9 @@ void Replay::run()
 		PX4_INFO("Replay done (published %u msgs, %.3lf s)", nr_published_messages,
 			 (double)hrt_elapsed_time(&_replay_start_time) / 1.e6);
 
-		//TODO: should we close the log file & exit (optionally, by adding a parameter -q) ?
+		//TODO: add parameter -q?
+		replay_file.close();
+		px4_shutdown_request(false, false);
 	}
 
 	onExitMainLoop();

diff --git a/src/modules/simulator/ledsim/CMakeLists.txt b/src/modules/simulator/ledsim/CMakeLists.txt
@@ -32,4 +32,4 @@
 ############################################################################
 
 px4_add_library(drivers__ledsim led.cpp)
-target_link_libraries(drivers__ledsim PRIVATE drivers__led drivers_board)
+target_link_libraries(drivers__ledsim PRIVATE drivers__led)