From b6fb1594d6c8d4d045fc699ea84d0d5ba5bca2a1 Mon Sep 17 00:00:00 2001
From: Yann Locatelli <yann.locatelli2@gmail.com>
Date: Tue, 16 Jul 2024 16:59:09 +0200
Subject: [PATCH] =?UTF-8?q?=F0=9F=94=A7=20(os):=20Add=20NO=5FSLEEP=5FWAITI?=
 =?UTF-8?q?NG=5FDURATION=20to=20reduce=20all=20sleep=20duration=20to=201?=
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---
 CMakeLists.txt                          |  7 +++++++
 Makefile                                | 11 ++++++-----
 libs/RobotKit/include/RobotController.h |  6 ++++++
 3 files changed, 19 insertions(+), 5 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 4594174064..497af5bfc8 100644
--- a/CMakeLists.txt
+++ b/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)
 
diff --git a/Makefile b/Makefile
index d81aed65c7..3e2320c269 100644
--- a/Makefile
+++ b/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
diff --git a/libs/RobotKit/include/RobotController.h b/libs/RobotKit/include/RobotController.h
index 0e194a3a5d..8377f0278b 100644
--- a/libs/RobotKit/include/RobotController.h
+++ b/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;