🔧 (os): Add NO_SLEEP_WAITING_DURATION to reduce all sleep duration to 1

CMakeLists.txt

@@ -49,6 +49,13 @@ if(BUILD_TARGETS_TO_USE_WITH_BOOTLOADER)
 	)
 endif(BUILD_TARGETS_TO_USE_WITH_BOOTLOADER)
 
+# OS
+option(NO_SLEEP_WAITING_DURATION "NO SLEEP WAITING DURATION output" OFF)
+
+if(NO_SLEEP_WAITING_DURATION)
+	add_definitions(-DNO_SLEEP_WAITING_DURATION)
+endif(NO_SLEEP_WAITING_DURATION)
+
 # Logger
 option(ENABLE_LOG_DEBUG "Enable LogKit output" OFF)
 

Makefile

@@ -39,8 +39,9 @@ GCOV_EXEC  ?= ""
 CI_UT_OPTIMIZATION_LEVEL ?= ""
 
 # os
-ENABLE_LOG_DEBUG    ?= ON
-ENABLE_SYSTEM_STATS ?= ON
+ENABLE_LOG_DEBUG          ?= ON
+ENABLE_SYSTEM_STATS       ?= ON
+NO_SLEEP_WAITING_DURATION ?= OFF
 
 # bootloader
 BUILD_TARGETS_TO_USE_WITH_BOOTLOADER ?= OFF
@@ -148,7 +149,7 @@ config_cmake_target: mkdir_cmake_config
 config_cmake_build: mkdir_cmake_config
 	@echo ""
 	@echo "🏃 Running cmake configuration script for target $(TARGET_BOARD) 📝"
-	@cmake -S . -B $(TARGET_BOARD_BUILD_DIR) -GNinja -DCMAKE_CONFIG_DIR="$(TARGET_BOARD_CMAKE_CONFIG_DIR)" -DTARGET_BOARD="$(TARGET_BOARD)" -DCMAKE_BUILD_TYPE=$(BUILD_TYPE) -DENABLE_LOG_DEBUG=$(ENABLE_LOG_DEBUG) -DENABLE_SYSTEM_STATS=$(ENABLE_SYSTEM_STATS) -DBUILD_TARGETS_TO_USE_WITH_BOOTLOADER=$(BUILD_TARGETS_TO_USE_WITH_BOOTLOADER)
+	@cmake -S . -B $(TARGET_BOARD_BUILD_DIR) -GNinja -DCMAKE_CONFIG_DIR="$(TARGET_BOARD_CMAKE_CONFIG_DIR)" -DTARGET_BOARD="$(TARGET_BOARD)" -DCMAKE_BUILD_TYPE=$(BUILD_TYPE) -DENABLE_LOG_DEBUG=$(ENABLE_LOG_DEBUG) -DNO_SLEEP_WAITING_DURATION=$(NO_SLEEP_WAITING_DURATION) -DENABLE_SYSTEM_STATS=$(ENABLE_SYSTEM_STATS) -DBUILD_TARGETS_TO_USE_WITH_BOOTLOADER=$(BUILD_TARGETS_TO_USE_WITH_BOOTLOADER)
 
 # Firmware config
 config_firmware: config
@@ -163,7 +164,7 @@ config_firmware_target: mkdir_firmware_config
 config_firmware_build: mkdir_firmware_config
 	@echo ""
 	@echo "🏃 Running cmake configuration script for firmware (os + bootloader) 📝"
-	@cmake -S . -B $(FIRMWARE_BUILD_DIR) -GNinja -DCMAKE_CONFIG_DIR="$(FIRMWARE_CONFIG_DIR)" -DTARGET_BOARD="$(TARGET_BOARD)" -DCMAKE_BUILD_TYPE=$(BUILD_TYPE) -DENABLE_LOG_DEBUG=$(ENABLE_LOG_DEBUG) -DENABLE_SYSTEM_STATS=$(ENABLE_SYSTEM_STATS) -DBUILD_TARGETS_TO_USE_WITH_BOOTLOADER=ON
+	@cmake -S . -B $(FIRMWARE_BUILD_DIR) -GNinja -DCMAKE_CONFIG_DIR="$(FIRMWARE_CONFIG_DIR)" -DTARGET_BOARD="$(TARGET_BOARD)" -DCMAKE_BUILD_TYPE=$(BUILD_TYPE) -DENABLE_LOG_DEBUG=$(ENABLE_LOG_DEBUG) -DNO_SLEEP_WAITING_DURATION=$(NO_SLEEP_WAITING_DURATION) -DENABLE_SYSTEM_STATS=$(ENABLE_SYSTEM_STATS) -DBUILD_TARGETS_TO_USE_WITH_BOOTLOADER=ON
 
 
 # Tools
@@ -178,7 +179,7 @@ config_tools_target: mkdir_tools_config
 config_tools_build: mkdir_tools_config
 	@echo ""
 	@echo "🏃 Running cmake configuration script for target $(TARGET_BOARD) 📝"
-	@cmake -S . -B $(CMAKE_TOOLS_BUILD_DIR) -GNinja -DCMAKE_CONFIG_DIR="$(CMAKE_TOOLS_CONFIG_DIR)" -DTARGET_BOARD="$(TARGET_BOARD)" -DCMAKE_BUILD_TYPE=$(BUILD_TYPE) -DENABLE_LOG_DEBUG=ON -DENABLE_SYSTEM_STATS=ON
+	@cmake -S . -B $(CMAKE_TOOLS_BUILD_DIR) -GNinja -DCMAKE_CONFIG_DIR="$(CMAKE_TOOLS_CONFIG_DIR)" -DTARGET_BOARD="$(TARGET_BOARD)" -DCMAKE_BUILD_TYPE=$(BUILD_TYPE) -DENABLE_LOG_DEBUG=ON -DNO_SLEEP_WAITING_DURATION=$(NO_SLEEP_WAITING_DURATION) -DENABLE_SYSTEM_STATS=ON
 
 #
 # MARK: - Tests targets

libs/RobotKit/include/RobotController.h

@@ -555,9 +555,15 @@ class RobotController : public interface::RobotController
 
 	interface::Timeout &_timeout_state_internal;
 
+#if defined(NO_SLEEP_WAITING_DURATION)
+	std::chrono::seconds _sleep_timeout_duration {1};
+	std::chrono::seconds _idle_timeout_duration {1};
+	std::chrono::seconds _deep_sleep_timeout_duration {1};
+#else
 	std::chrono::seconds _sleep_timeout_duration {60};
 	std::chrono::seconds _idle_timeout_duration {600};
 	std::chrono::seconds _deep_sleep_timeout_duration {600};
+#endif
 	interface::Timeout &_timeout_state_transition;
 
 	interface::Timeout &_timeout_autonomous_activities;