AP_HAL: Scheduler: Add late_reboot

Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
ArduPilot · Mar 20, 2024 · 924dff8 · 924dff8
1 parent 63c1e3c
commit 924dff8
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diff --git a/libraries/AP_HAL/Scheduler.cpp b/libraries/AP_HAL/Scheduler.cpp
@@ -6,6 +6,16 @@ using namespace AP_HAL;
 
 extern const AP_HAL::HAL& hal;
 
+
+void Scheduler::late_reboot() {
+    hal.scheduler->thread_create(FUNCTOR_BIND_MEMBER(&Scheduler::do_late_reboot, void) , "scheduler", 2048, AP_HAL::Scheduler::PRIORITY_MAIN, 0);
+}
+
+void Scheduler::do_late_reboot() {
+    hal.scheduler->delay(1000);
+    hal.scheduler->reboot();
+}
+
 void Scheduler::register_delay_callback(AP_HAL::Proc proc,
                                         uint16_t min_time_ms)
 {

diff --git a/libraries/AP_HAL/Scheduler.h b/libraries/AP_HAL/Scheduler.h
@@ -71,6 +71,8 @@ class AP_HAL::Scheduler {
     virtual bool     is_system_initialized() = 0;
 
     virtual void     reboot(bool hold_in_bootloader = false) = 0;
+    void             late_reboot();
+    void             do_late_reboot();
 
     /**
        optional function to stop clock at a given time, used by log replay