feat(reboot_reason): msg in reboot handler and Memfault

Move CAN msg from shutdown to reboot handler and publish event on Memfault

Signed-off-by: Srikar Chintapalli <[email protected]>

main_board/config/memfault_reboot_reason_user_config.def

@@ -1,3 +1,4 @@
 // Defines "unexpected" reboots
 MEMFAULT_UNEXPECTED_REBOOT_REASON_DEFINE(BatteryRemoved)
 MEMFAULT_UNEXPECTED_REBOOT_REASON_DEFINE(HeartbeatFromJetsonTimeout)
+MEMFAULT_EXPECTED_REBOOT_REASON_DEFINE(JetsonRequestedReboot)

main_board/src/runner/runner.c

@@ -33,6 +33,10 @@
 #include <memfault/metrics/connectivity.h>
 #endif
 
+#if defined(CONFIG_MEMFAULT)
+#include <memfault/core/reboot_tracking.h>
+#endif
+
 LOG_MODULE_REGISTER(runner, CONFIG_RUNNER_LOG_LEVEL);
 
 K_THREAD_STACK_DEFINE(runner_process_stack, THREAD_STACK_SIZE_RUNNER);
@@ -287,16 +291,6 @@ handle_shutdown(job_t *job)
     if (delay > 30) {
         job_ack(orb_mcu_Ack_ErrorCode_RANGE, job);
     } else {
-        // Send out shutdown scheduled CAN message
-        orb_mcu_main_ShutdownScheduled shutdown;
-        shutdown.shutdown_reason =
-            orb_mcu_main_ShutdownScheduled_ShutdownReason_JETSON_REQUESTED_REBOOT;
-        shutdown.has_ms_until_shutdown = true;
-        shutdown.ms_until_shutdown = delay * 1000;
-        publish_new(&shutdown, sizeof(shutdown),
-                    orb_mcu_main_McuToJetson_shutdown_tag,
-                    CONFIG_CAN_ADDRESS_DEFAULT_REMOTE);
-
         int ret = reboot(delay);
 
         if (ret == RET_SUCCESS) {
@@ -321,6 +315,20 @@ handle_reboot_message(job_t *job)
         job_ack(orb_mcu_Ack_ErrorCode_RANGE, job);
         LOG_ERR("Reboot with delay > 60 seconds: %u", delay);
     } else {
+        // Send out shutdown scheduled CAN message
+        orb_mcu_main_ShutdownScheduled shutdown;
+        shutdown.shutdown_reason =
+            orb_mcu_main_ShutdownScheduled_ShutdownReason_JETSON_REQUESTED_REBOOT;
+        shutdown.has_ms_until_shutdown = true;
+        shutdown.ms_until_shutdown = delay * 1000;
+        publish_new(&shutdown, sizeof(shutdown),
+                    orb_mcu_main_McuToJetson_shutdown_tag,
+                    CONFIG_CAN_ADDRESS_DEFAULT_REMOTE);
+#ifdef CONFIG_MEMFAULT
+        MEMFAULT_REBOOT_MARK_RESET_IMMINENT(
+            kMfltRebootReason_JetsonRequestedReboot);
+#endif
+
         int ret = reboot(delay);
 
         if (ret == RET_SUCCESS) {