src/platforms/common: move to platforms/common

Script to update include paths:
for i in $(grep -rl 'include <px4_work_queue' src platforms); do sed -i 's/#include <px4_work_queue/#include <px4_platform_common\/px4_work_queue/' $i; done

platforms/common/shutdown.cpp

@@ -0,0 +1,248 @@
+/****************************************************************************
+ *
+ * Copyright (C) 2017 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 shutdown.cpp
+ * Implementation of the API declared in px4_shutdown.h.
+ */
+
+#include <board_config.h>
+
+#include <px4_workqueue.h>
+#include <px4_shutdown.h>
+#include <px4_tasks.h>
+
+#ifndef MODULE_NAME
+#define MODULE_NAME "shutdown"
+#endif
+
+#include <px4_log.h>
+
+#include <stdint.h>
+#include <errno.h>
+#include <pthread.h>
+
+static pthread_mutex_t shutdown_mutex =
+	PTHREAD_MUTEX_INITIALIZER; // protects access to shutdown_hooks & shutdown_lock_counter
+static uint8_t shutdown_lock_counter = 0;
+
+int px4_shutdown_lock()
+{
+	int ret = pthread_mutex_lock(&shutdown_mutex);
+
+	if (ret == 0) {
+		++shutdown_lock_counter;
+		return pthread_mutex_unlock(&shutdown_mutex);
+	}
+
+	return ret;
+}
+
+int px4_shutdown_unlock()
+{
+	int ret = pthread_mutex_lock(&shutdown_mutex);
+
+	if (ret == 0) {
+		if (shutdown_lock_counter > 0) {
+			--shutdown_lock_counter;
+
+		} else {
+			PX4_ERR("unmatched number of px4_shutdown_unlock() calls");
+		}
+
+		return pthread_mutex_unlock(&shutdown_mutex);
+	}
+
+	return ret;
+}
+
+
+#if (defined(__PX4_NUTTX) && !defined(CONFIG_SCHED_WORKQUEUE)) || __PX4_QURT
+// minimal NuttX/QuRT build without work queue support
+
+int px4_register_shutdown_hook(shutdown_hook_t hook)
+{
+	return -EINVAL;
+}
+int px4_unregister_shutdown_hook(shutdown_hook_t hook)
+{
+	return -EINVAL;
+}
+
+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;
+}
+
+#else
+
+static struct work_s shutdown_work = {};
+static uint16_t shutdown_counter = 0; ///< count how many times the shutdown worker was executed
+
+#define SHUTDOWN_ARG_IN_PROGRESS (1<<0)
+#define SHUTDOWN_ARG_REBOOT (1<<1)
+#define SHUTDOWN_ARG_TO_BOOTLOADER (1<<2)
+static uint8_t shutdown_args = 0;
+
+
+static const int max_shutdown_hooks = 1;
+static shutdown_hook_t shutdown_hooks[max_shutdown_hooks] = {};
+
+
+static const int shutdown_timeout_ms = 5000; ///< force shutdown after this time if modules do not respond in time
+
+
+/**
+ * work queue callback method to shutdown.
+ * @param arg unused
+ */
+static void shutdown_worker(void *arg);
+
+
+int px4_register_shutdown_hook(shutdown_hook_t hook)
+{
+	pthread_mutex_lock(&shutdown_mutex);
+
+	for (int i = 0; i < max_shutdown_hooks; ++i) {
+		if (!shutdown_hooks[i]) {
+			shutdown_hooks[i] = hook;
+			pthread_mutex_unlock(&shutdown_mutex);
+			return 0;
+		}
+	}
+
+	pthread_mutex_unlock(&shutdown_mutex);
+	return -ENOMEM;
+}
+
+int px4_unregister_shutdown_hook(shutdown_hook_t hook)
+{
+	pthread_mutex_lock(&shutdown_mutex);
+
+	for (int i = 0; i < max_shutdown_hooks; ++i) {
+		if (shutdown_hooks[i] == hook) {
+			shutdown_hooks[i] = nullptr;
+			pthread_mutex_unlock(&shutdown_mutex);
+			return 0;
+		}
+	}
+
+	pthread_mutex_unlock(&shutdown_mutex);
+	return -EINVAL;
+}
+
+
+
+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));
+	}
+}
+
+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;
+}
+
+
+#endif /* (defined(__PX4_NUTTX) && !defined(CONFIG_SCHED_WORKQUEUE)) || __PX4_QURT */