#31 [feat] done for the week :)

Lagavulin9 · Nov 3, 2023 · c1047be · c1047be
1 parent 06018f5
commit c1047be
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Showing 6 changed files with 23 additions and 40 deletions.
diff --git a/car_control_v2/fidl/carcontrol.fidl b/car_control_v2/fidl/carcontrol.fidl
@@ -8,7 +8,7 @@ interface CarControl {
 
     method gearSelectionHeadUnit {
         in { 
-            String gearSelection
+            String gearSelectionHeadUnit
         }
         out { 
             Boolean accepted

diff --git a/car_control_v2/include/CarControlStubImpl.hpp b/car_control_v2/include/CarControlStubImpl.hpp
@@ -12,10 +12,8 @@ class CarControlStubImpl: public v0_1::commonapi::CarControlStubDefault {
         CarControlStubImpl();
         virtual ~CarControlStubImpl();
         virtual void gearSelectionHeadUnit(const std::shared_ptr<CommonAPI::ClientId> _client, 
-                                           const std::string& _gear, 
+                                           const std::string& _gearSelectionHeadUnit, 
                                            gearSelectionHeadUnitReply_t _reply);
-        // virtual void modifyGearAttribute(const std::string& _gear);
-        // virtual void modifyIndicatorAttribute(const std::string& _indicator);
     private: 
 };
 

diff --git a/car_control_v2/include/PiRacer.hpp b/car_control_v2/include/PiRacer.hpp
@@ -17,13 +17,13 @@ class PiRacer
 private:
 	std::string			_gear;
 	std::string			_indicator;
-	double				_throttle;
 	double				_steering;
 	py::object			pModule;
 	py::object			pClass;
 	py::object			pInstance;
 	static PiRacer* 	_instance;
 	static std::mutex	_mutex;
+	double				_throttle;
 protected:
 	PiRacer();
 	~PiRacer();

diff --git a/car_control_v2/src/CarControlClient.cpp b/car_control_v2/src/CarControlClient.cpp
@@ -7,13 +7,11 @@
 
 using namespace v0::commonapi;
 
-// void recv_cb(const CommonAPI::CallStatus& callStatus,
-//              const bool& gearSelectionHeadUnit) {
-//     std::cout << "Result of asynchronous call of gearSelectionHeadUnit: " << std::endl;
-//     std::cout << "   callStatus: " << ((callStatus == CommonAPI::CallStatus::SUCCESS) ? "SUCCESS" : "NO_SUCCESS")
-//                     << std::endl;
-//     std::cout << "   Output values: gear = " << gearSelectionHeadUnit << std::endl;
-// }
+void recv_cb(const CommonAPI::CallStatus& callStatus, const bool& gearSelectionHeadUnit) {
+    std::cout << "Result of asynchronous call of gearSelectionHeadUnit: " << std::endl;
+    std::cout << "   callStatus: " << ((callStatus == CommonAPI::CallStatus::SUCCESS) ? "SUCCESS" : "NO_SUCCESS")<< std::endl;
+    std::cout << "   Output : " << gearSelectionHeadUnit << std::endl;
+}
 
 int main()
 {
@@ -46,18 +44,15 @@ int main()
         char c = gears[rand() % arraySize];
         std::string random_gear(1, c);
         // Asynchronous call to set gear attribute of service
-        //std::cout << "Call gearSelectionHeadUnit with asynchronous semantics ..." << std::endl;
-        // std::function<
-        //                 void(const CommonAPI::CallStatus&,
-        //                      const bool&)> fcb = recv_cb;
-        // myProxy->gearSelectionHeadUnitAsync(random_gear, fcb);
+        std::cout << "Call gearSelectionHeadUnit with asynchronous semantics ..." << std::endl;
+        std::function< void(const CommonAPI::CallStatus&, const bool&)> fcb = recv_cb;
+        myProxy->gearSelectionHeadUnitAsync(random_gear, fcb, &info);
         // Synchronous call
-        myProxy->gearSelectionHeadUnit(random_gear,callStatus,returnMessage);
+        myProxy->gearSelectionHeadUnit(random_gear,callStatus,returnMessage,&info);
         std::cout << "Result of synchronous call: " << std::endl;
-        std::cout << "   callStatus: " << ((callStatus == CommonAPI::CallStatus::SUCCESS) ? "SUCCESS" : "NO_SUCCESS")
-                  << std::endl;
-        std::cout << "   Input values: " << random_gear << std::endl;
-        std::cout << "   Output values:" << returnMessage << std::endl;
+        std::cout << "   callStatus: " << ((callStatus == CommonAPI::CallStatus::SUCCESS) ? "SUCCESS" : "NO_SUCCESS") << std::endl;
+        std::cout << "   Input:  " << random_gear << std::endl;
+        std::cout << "   Output: " << returnMessage << std::endl;
         // wait for 5 seconds
         std::this_thread::sleep_for(std::chrono::seconds(5));
     }

diff --git a/car_control_v2/src/CarControlStubImpl.cpp b/car_control_v2/src/CarControlStubImpl.cpp
@@ -7,29 +7,19 @@ CarControlStubImpl::~CarControlStubImpl() {
 }
 /*can be invoked by client */
 void CarControlStubImpl::gearSelectionHeadUnit(const std::shared_ptr<CommonAPI::ClientId> _client, 
-                                               const std::string &_gear, 
+                                               const std::string &_gearSelectionHeadUnit, 
                                                gearSelectionHeadUnitReply_t _reply)
 {
     std::cout << "gearSelectionHeadUnit() called by client." << std::endl;
-    std::cout << "setting new gear: " << _gear << std::endl;
+    std::cout << "  Input: " << _gearSelectionHeadUnit << std::endl;
 
     PiRacer* piracer = PiRacer::getInstance();
     PyGILState_STATE gilState = PyGILState_Ensure();
-    bool accepted = piracer->setGear(_gear);
+    bool accepted = piracer->setGear(_gearSelectionHeadUnit);
     if(accepted) {
-        setGearAttribute(_gear);
+        setGearAttribute(_gearSelectionHeadUnit);
     }
     PyGILState_Release(gilState);
 
     _reply(accepted);
 }
-
-// void CarControlStubImpl::modifyGearAttribute(const std::string &_gear)
-// {
-//     setGearAttribute(_gear);
-// }
-
-// void CarControlStubImpl::modifyIndicatorAttribute(const std::string &_indicator)
-// {
-//     setIndicatorAttribute(_indicator);
-// }
diff --git a/car_control_v2/src/PiRacer.cpp b/car_control_v2/src/PiRacer.cpp
@@ -67,11 +67,11 @@ const std::string& PiRacer::getIndicator()
 
 bool PiRacer::setGear(const std::string& gear)
 {
-	// std::lock_guard<std::mutex>	lock(_mutex);
+	//std::cout << "Abs throttel: " << abs(_throttle) << std::endl;
 	if (abs(_throttle) >= 0.01)
 		return false;
 	_gear = gear;
-	std::cout << "PiRacer - Gear set to: " << _gear << std::endl;
+	//std::cout << "PiRacer - Gear set to: " << _gear << std::endl;
 	py::object setThrottle = pInstance.attr("set_throttle_percent");
 	setThrottle(0.0);
 	return true;
@@ -82,13 +82,13 @@ bool PiRacer::setIndicator(const std::string& indicator)
 	if (_indicator == indicator)
 		return false;
 	_indicator = indicator;
-	std::cout << "PiRacer - Indicator set to: " << indicator << std::endl;
+	//std::cout << "PiRacer - Indicator set to: " << indicator << std::endl;
 	return true;
 }
 
 bool PiRacer::setThrottle(const double& throttle)
 {
-	if (_gear == "P" || _gear == "N")
+	if ((_gear == "P" || _gear == "N"))
 		return false;
 	if (_gear == "D" && throttle < -0.1)
 		return false;