On all ESPs there have been these
easier to use power control command varients for some time:

Power.dwarf :on
Power.dwarf :off
Power.raw :on
Power.raw :off
Power.camera :on
Power.camera :off

Power.camera returns true if the camera is powered
Power.dwarf returns true if the dwarves are powered
Power.raw returnes true if raw 12V is enabled

On ESPneo, shutdowns will be deferred until all "background"
threads threads have terminated.  ESP.shutdown or Sleep.shutdown
will produce a log message to this effect.
The message indicates which background threads are causing
shutdown to be deferred.

You can always get a list of the background threads with:

Sleep.background

If you want to force a shutdown anyway, here's how:

Sleep.shutdown!

To power up the ESP after a shutdown:

ESP.wakeup
or
 Sleep.wakeup
#cancels any pending shutdown.
#does nothing if the ESP is already powered.
#otherwise, powers up and readies all but the MFB

If you're impatient:

Sleep.restart!   #forces a power cycle, reconfigures dwarves, but does
not home

ESPs other than neo never defer shutdowns and do not implement
Sleep.shutdown! or Sleep.restart!

--
 Brent Roman                                   MBARI
 Software Engineer               Tel: (831) 775-1808
 7700 Sandholdt Road,         Moss Landing, CA 95039
 brent@mbari.org  http://www.mbari.org/~brent