Main relay shutdown rebase (#3880)

* aggregate

* main relay controller handles delayed shutoff

* main relay controller handles delayed shutdown

Co-authored-by: Matthew Kennedy <matthewkennedy@outlook.com>
Co-authored-by: rusefillc <sdfsdfqsf2334234234>

firmware/console/status_loop.cpp

@@ -650,6 +650,7 @@ static void updateIgnition(int rpm) {
 }
 
 static void updateFlags() {
+	engine->outputChannels.isMainRelayOn = enginePins.mainRelay.getLogicValue();
 	engine->outputChannels.isFuelPumpOn = enginePins.fuelPumpRelay.getLogicValue();
 	engine->outputChannels.isFanOn = enginePins.fanRelay.getLogicValue();
 	engine->outputChannels.isFan2On = enginePins.fanRelay2.getLogicValue();

firmware/controllers/actuators/main_relay.cpp

@@ -6,7 +6,20 @@ void MainRelayController::onSlowCallback() {
 	isBenchTest = engine->isInMainRelayBench();
 
 #if EFI_MAIN_RELAY_CONTROL
-	mainRelayState = isBenchTest | hasIgnitionVoltage;
+	hasIgnitionVoltage = Sensor::getOrZero(SensorType::BatteryVoltage) > 5;
+
+	if (hasIgnitionVoltage) {
+		m_lastIgnitionTime.reset();
+	}
+
+	delayedShutoffRequested = engine->module<MainRelayController>()->needsDelayedShutoff();
+
+	// Query whether any engine modules want to keep the lights on
+// todo: fix this amazing C++ lambda magic
+//	delayedShutoffRequested = engine->engineModules.aggregate([](auto& m, bool prev) { return m->needsDelayedShutoff() | prev; }, false);
+	// TODO: delayed shutoff timeout?
+
+	mainRelayState = isBenchTest | hasIgnitionVoltage | delayedShutoffRequested;
 #else // not EFI_MAIN_RELAY_CONTROL
 	mainRelayState = !isBenchTest;
 #endif
@@ -14,6 +27,9 @@ void MainRelayController::onSlowCallback() {
 	enginePins.mainRelay.setValue(mainRelayState);
 }
 
-void MainRelayController::onIgnitionStateChanged(bool ignitionOn) {
+bool MainRelayController::needsDelayedShutoff() {
-	hasIgnitionVoltage = ignitionOn;
+	// Prevent main relay from turning off if we had igniton voltage in the past 1 second
+	// This avoids accidentally killing the car during a transient, for example
+	// right when the starter is engaged.
+	return !m_lastIgnitionTime.hasElapsedSec(1);
 }

firmware/controllers/actuators/main_relay.h

@@ -3,7 +3,11 @@
 #include "engine_module.h"
 #include "main_relay_generated.h"
 
-struct MainRelayController : public EngineModule, public main_relay_s {
+class MainRelayController : public EngineModule, public main_relay_s {
+public:
 	void onSlowCallback() override;
-	void onIgnitionStateChanged(bool ignitionOn) override;
+	bool needsDelayedShutoff() override;
+
+private:
+	Timer m_lastIgnitionTime;
 };

firmware/controllers/core/engine_module.h

@@ -13,4 +13,7 @@ public:
 
 	// Called whenever the ignition switch state changes
 	virtual void onIgnitionStateChanged(bool /*ignitionOn*/) { }
+
+	// Queried to determine whether this module needs a delayed shutoff, defaults to false
+	virtual bool needsDelayedShutoff() { return false; }
 };

firmware/tunerstudio/rusefi.input

@@ -1274,6 +1274,7 @@ gaugeCategory = DynoView
 	; minor info	
     indicator = { isFanOn },   "fan off",     "fan on",     white, black, green,   black
 	indicator = { isFan2On }, "fan 2 off",   "fan 2 on",   white, black, green,   black
+	indicator = { isMainRelayOn }, "main relay off",   "main relay on",   white, black, green,   black
     indicator = { isCylinderCleanupActivated}, "no cyl cleanup",   "cyl cleanup",   white, black, yellow,   black
     indicator = { isFuelPumpOn}, "pump off",   "pump on",   white, black, green,   black
     indicator = { clutchUpState }, "Clutch Up",   "clutch Up",   white, black, red,   black

firmware/util/containers/type_list.h

@@ -45,6 +45,14 @@ struct type_list {
 		others.apply_all(f);
 	}
 
+	// Applies an accumulator function over the sequence of elements.
+	// The specified seed value is used as the initial accumulator value,
+	// and the specified function is used to select the result value.
+	template<typename return_t, typename func_t>
+	auto aggregate(func_t const& accumulator, return_t seed) {
+		return others.aggregate(accumulator, first.aggregate(accumulator, seed));
+	}
+
 	/*
 	 * Return the container object for type get_t.
 	 *
@@ -92,6 +100,11 @@ public:
 		f(me);
 	}
 
+	template<typename return_t, typename func_t>
+	auto aggregate(func_t const& accumulator, return_t seed) {
+		return accumulator(me, seed);
+	}
+
 	template<typename has_t>
 	static constexpr bool has() {
 		return std::is_same_v<has_t, base_t>;

unit_tests/tests/test_main_relay.cpp

@@ -2,18 +2,17 @@
 
 #include "main_relay.h"
 
-TEST(MainRelay, mr) {
+TEST(MainRelay, mainRelayLogic) {
 	EngineTestHelper eth(TEST_ENGINE);
 
 	MainRelayController dut;
 
 	// Ignition is off, MR is off
-	dut.onIgnitionStateChanged(false);
 	dut.onSlowCallback();
 	EXPECT_EQ(enginePins.mainRelay.getLogicValue(), false);
 
-	// Ignition is now on, MR is on
+	// Battery above threshold - MR is on
-	dut.onIgnitionStateChanged(true);
+	Sensor::setMockValue(SensorType::BatteryVoltage, 13);
 	dut.onSlowCallback();
 	EXPECT_EQ(enginePins.mainRelay.getLogicValue(), true);
 }