prop gpio

delft-hyperloop · Jul 1, 2024 · 7695cda · 7695cda
1 parent c1684e0
commit 7695cda
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Showing 5 changed files with 46 additions and 6 deletions.
diff --git a/app/src/core/states/idle.rs b/app/src/core/states/idle.rs
@@ -2,7 +2,7 @@ use defmt::info;
 
 use crate::core::finite_state_machine::Fsm;
 use crate::core::finite_state_machine::State;
-use crate::transit;
+use crate::{Info, transit};
 use crate::Event;
 
 impl Fsm {
@@ -12,6 +12,14 @@ impl Fsm {
 
     pub async fn react_idle(&mut self, event: Event) {
         match event {
+            Event::DisablePropulsionCommand => {
+                self.peripherals.propulsion_controller.disable();
+                self.log(Info::DisablePropulsionGpio).await;
+            }
+            Event::EnablePropulsionCommand => {
+                self.peripherals.propulsion_controller.enable();
+                self.log(Info::EnablePropulsionGpio).await;
+            }
             Event::TurnOnHVCommand => {
                 self.pod_unsafe().await;
                 //todo check for preconditions

diff --git a/app/src/core/states/run_config.rs b/app/src/core/states/run_config.rs
@@ -5,7 +5,7 @@ use defmt::info;
 use crate::core::controllers::breaking_controller::BRAKE;
 use crate::core::finite_state_machine::Fsm;
 use crate::core::finite_state_machine::State;
-use crate::transit;
+use crate::{Info, transit};
 use crate::Event;
 
 impl Fsm {
@@ -56,6 +56,16 @@ impl Fsm {
                 transit!(self, State::Exit);
                 todo!();
             }
+
+            // TODO: delete these two
+            Event::DisablePropulsionCommand => {
+                self.peripherals.propulsion_controller.disable();
+                self.log(Info::DisablePropulsionGpio).await;
+            }
+            Event::EnablePropulsionCommand => {
+                self.peripherals.propulsion_controller.enable();
+                self.log(Info::EnablePropulsionGpio).await;
+            }
             _ => {
                 info!("The current state ignores {}", event.to_str());
             }

diff --git a/config/config.toml b/config/config.toml
@@ -1,5 +1,5 @@
 [gs]
-ip = [192,168,0,93]
+ip = [192,168,0,232]
 force = true
 port = 6942
 udp_port = 6943
@@ -82,6 +82,18 @@ colour = "green"
 label = "Unsafe"
 colour = "magenta"
 
+[[Info]]
+label = "EnablePropulsionGpio"
+colour = "yellow"
+
+
+[[Info]]
+label = "DisablePropulsionGpio"
+colour = "yellow"
+
+
 [[Info]]
 label = "SetPropulsionSpeed"
 colour = "yellow"
+
+
diff --git a/config/events.toml b/config/events.toml
@@ -71,7 +71,17 @@ priority = 0
 
 [[Event]]
 name = "LVPropulsionReadyEvent"
-id = 0xaE
+id = 0x3e1
+priority = 0
+
+[[Event]]
+name = "EnablePropulsionCommand"
+id = 0x3e2
+priority = 0
+
+[[Event]]
+name = "DisablePropulsionCommand"
+id = 0x3e3
 priority = 0
 
 [[Event]]

diff --git a/gs/station/src/connect/tcp_writer.rs b/gs/station/src/connect/tcp_writer.rs
@@ -39,8 +39,8 @@ pub async fn transmit_commands_to_tcp(
                 Ok(command) => {
                     if matches!(command, Command::Shutdown(_)) {
                         status_transmitter
-                            .send(Message::Warning("Closing connection...".into()))?;
-                        writer.shutdown().await?;
+                            .send(Message::Warning("Closing connection...".into())).unwrap();
+                        writer.shutdown().await.unwrap();
                         break;
                     }
                     let bytes = command.as_bytes();