From 07579cd89a2dc4b600c8860d897e753d06af7b0a Mon Sep 17 00:00:00 2001
From: Sergi Hernandez <shernand@iri.upc.edu>
Date: Fri, 19 Feb 2021 18:03:52 +0100
Subject: [PATCH] Checked the operation of the emergency stop.
---
include/model_car_actuators.h | 2 +-
src/examples/model_car_actuators_test.cpp | 23 +----------------------
src/model_car_actuators.cpp | 9 +++++++--
3 files changed, 9 insertions(+), 25 deletions(-)
diff --git a/include/model_car_actuators.h b/include/model_car_actuators.h
index 47378ac..9849d08 100644
--- a/include/model_car_actuators.h
+++ b/include/model_car_actuators.h
@@ -20,7 +20,7 @@ class CModelCarActuators: public CModelCarDriverBase
public:
CModelCarActuators(std::string name);
void send_command(double speed,double steering);
- void emergency_stop(void);
+ void emergency_stop(bool active);
void enable_ultrasounds(void);
void disable_ultrasounds(void);
~CModelCarActuators(void);
diff --git a/src/examples/model_car_actuators_test.cpp b/src/examples/model_car_actuators_test.cpp
index b9fed4f..af9854b 100644
--- a/src/examples/model_car_actuators_test.cpp
+++ b/src/examples/model_car_actuators_test.cpp
@@ -34,28 +34,7 @@ int main(int argc, char *argv[])
act_driver->send_command(vx,steer);
}
act_driver->send_command(0.0,0.0);
-
- /*
- if(test_watchdog)
- {
- std::cout << "model_car_actuators_test::main: sending watchdog" << std::endl;
- act_driver->send_watchdog();
- }
-
- if(test_emergency_stop)
- {
- std::cout << "model_car_actuators_test::main: sending emergency stop" << std::endl;
- act_driver->send_emergency_stop();
- }
-
- if(test_enable_disable_uss)
- {
- std::cout << "model_car_actuators_test::main: sending enable uss" << std::endl;
- act_driver->send_enable_uss();
- std::cout << "model_car_actuators_test::main: sending disable uss" << std::endl;
- act_driver->send_disable_uss();
- }
- */
+
act_driver->close();
delete act_driver;
}
diff --git a/src/model_car_actuators.cpp b/src/model_car_actuators.cpp
index 27a16eb..2f74566 100644
--- a/src/model_car_actuators.cpp
+++ b/src/model_car_actuators.cpp
@@ -43,9 +43,14 @@ void CModelCarActuators::send_command(double speed,double steering)
this->send_request(ID_ARD_ACT_STEER_SERVO,1, &cmd);
}
-void CModelCarActuators::emergency_stop(void)
+void CModelCarActuators::emergency_stop(bool active)
{
- uint8_t cmd=1;
+ uint8_t cmd;
+
+ if(active)
+ cmd=1;
+ else
+ cmd=0;
this->send_request(ID_ARD_ACT_EMERGENCY_STOP,1,&cmd);
}
--
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