Close replay log file after replay is finished, then exit

[roangel]

Describe problem solved by the proposed pull request
When finishing log replay, close the log file and exit process. The main problem is that right now we do not have a method implemented for px4_request_shutdown() when we are in SITL, as discussed briefly here: http://discuss.px4.io/t/bug-calibration-gazebo-sitl/9138/18

[bkueng]

Thanks @roangel, and sorry, I didn't see this earlier.

[bkueng]

I'd rather implement board_shutdown for SITL, then we don't need this ifdef.
px4_systemreset is incorrect here, as it's supposed to do a reboot.

[bkueng]

This ifdef should not be required if board_shutdown is implemented for SITL

[stale]

This issue has been automatically marked as stale because it has not had recent activity. It will be closed if no further activity occurs. Thank you for your contributions.

[stale]

Closing as stale.

[julianoes]

@roangel could you check the review comments so we can get this in?

[roangel]

I tried to do the implementation of board_shutdown method in its respective place (or at least what I think it is the place), but it is not working. Anyone has some input? Where should I put the implementation of the sitl shutdown method?

[bkueng]

It looks right, does board_shutdown get called? What's the output you get?

[roangel]

Right now the compiler throws an error:

And when I solve it by adding the needed defines to boards/px4/sitl/src/board_config.h, I stumble upon this:

Any ideas?

[bkueng]

This works:

diff --git a/boards/px4/sitl/src/sitl_board_shutdown.c b/boards/px4/sitl/src/sitl_board_shutdown.c
index 11a9850ff1..9ca9326a53 100644
--- a/boards/px4/sitl/src/sitl_board_shutdown.c
+++ b/boards/px4/sitl/src/sitl_board_shutdown.c
@@ -38,14 +38,15 @@
  */
 
 #include <px4_tasks.h>
-#include <drivers/boards/common/board_common.h>
+#include <board_config.h>
 
-__BEGIN_DECLS
-extern int board_shutdown(void) noreturn_function;
-static inline int board_register_power_state_notification_cb(power_button_state_notification_t cb) { return 0; }
-__END_DECLS
+int board_register_power_state_notification_cb(power_button_state_notification_t cb)
+{
+	return 0;
+}
 
-__EXPORT int board_shutdown()
+int board_shutdown()
 {
 	px4_systemreset(false);
+	return 0;
 }

[bkueng]

We're getting closer. The build fails on MacOS and Windows for the CollisionPreventionTest build because of a missing dependency.

This might solve it:

diff --git a/boards/px4/sitl/src/CMakeLists.txt b/boards/px4/sitl/src/CMakeLists.txt
index fa201136ae..063e4f71f3 100644
--- a/boards/px4/sitl/src/CMakeLists.txt
+++ b/boards/px4/sitl/src/CMakeLists.txt
@@ -36,3 +36,6 @@ add_library(drivers_board
 	sitl_led.c
 	sitl_board_shutdown.c
 )
+
+add_dependencies(drivers_board prebuild_targets)
+
diff --git a/src/modules/simulator/ledsim/CMakeLists.txt b/src/modules/simulator/ledsim/CMakeLists.txt
index c8f9cbc012..5358958c98 100644
--- a/src/modules/simulator/ledsim/CMakeLists.txt
+++ b/src/modules/simulator/ledsim/CMakeLists.txt
@@ -32,4 +32,5 @@
 ############################################################################
 
 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)
+

[bkueng]

I think I have it now:

diff --git a/boards/px4/sitl/src/CMakeLists.txt b/boards/px4/sitl/src/CMakeLists.txt
index 0c925b02c7..d3156ed0dc 100644
--- a/boards/px4/sitl/src/CMakeLists.txt
+++ b/boards/px4/sitl/src/CMakeLists.txt
@@ -37,4 +37,3 @@ add_library(drivers_board
 	sitl_board_shutdown.c
 )
 
-add_dependencies(drivers_board prebuild_targets)
diff --git a/platforms/posix/src/px4_layer/CMakeLists.txt b/platforms/posix/src/px4_layer/CMakeLists.txt
index ffa0638461..a7024ce972 100644
--- 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)

With this make tests works for me.

[bkueng]

Thanks @roangel