From d2877f4803ec7f8e342e1fffcc6c9bbde58727e5 Mon Sep 17 00:00:00 2001
From: Atsunori Saito <sai@yedo.com>
Date: Tue, 12 Jul 2022 15:18:59 +0900
Subject: [PATCH] Added poweroff timer.

---
 main.cpp | 14 ++++++++++++--
 1 file changed, 12 insertions(+), 2 deletions(-)

diff --git a/main.cpp b/main.cpp
index c3ed650..57534e7 100644
--- a/main.cpp
+++ b/main.cpp
@@ -748,6 +748,7 @@ class state_controller {
         AUTO_CHARGE,
         MANUAL_CHARGE,
         LOCKDOWN,
+        TIMEROFF,
     };
     void poll() {
         auto wheel_relay_control = [&](){
@@ -770,6 +771,10 @@ class state_controller {
         case POWER_STATE::OFF:
             set_new_state(mc.is_plugged() ? POWER_STATE::POST : POWER_STATE::WAIT_SW);
             break;
+        case POWER_STATE::TIMEROFF:
+            if (timer_poweroff.elapsed_time() > 5s)
+                set_new_state(POWER_STATE::OFF);
+            break;
         case POWER_STATE::WAIT_SW:
             if (psw.get_state() != power_switch::STATE::RELEASED) {
                 poweron_by_switch = true;
@@ -796,7 +801,7 @@ class state_controller {
             if (!dcdc.is_ok() || psw_state == power_switch::STATE::LONG_PUSHED) {
                 set_new_state(POWER_STATE::OFF);
             } else if (mbd.is_dead()) {
-                set_new_state(wait_shutdown ? POWER_STATE::OFF : POWER_STATE::LOCKDOWN);
+                set_new_state(wait_shutdown ? POWER_STATE::TIMEROFF : POWER_STATE::LOCKDOWN);
             } else if (psw_state == power_switch::STATE::PUSHED || mbd.power_off_from_ros() ||
                 mbd.is_overheat() || !bmu.is_ok() || !temp.is_ok()) {
                 if (wait_shutdown) {
@@ -956,6 +961,11 @@ class state_controller {
             while (true) // wait power off
                 continue;
             break;
+        case POWER_STATE::TIMEROFF:
+            LOG("enter TIMEROFF\n");
+            timer_poweroff.reset();
+            timer_poweroff.start();
+            break;
         case POWER_STATE::WAIT_SW:
             LOG("enter WAIT_SW\n");
             break;
@@ -1104,7 +1114,7 @@ class state_controller {
         POWERBOARD_TEMP,
         BMU,
     } shutdown_reason{SHUTDOWN_REASON::NONE};
-    Timer timer_post, timer_shutdown;
+    Timer timer_post, timer_shutdown, timer_poweroff;
     Timeout current_check_timeout, charge_guard_timeout;
     bool poweron_by_switch{false}, wait_shutdown{false}, current_check_enable{false}, charge_guard_asserted{false},
          last_wheel_poweroff{false};