Able to set behaviour_tree_update_ms_interval

Chi-EEE · Apr 16, 2024 · 702cb07 · 702cb07
1 parent b8c2f42
commit 702cb07
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Showing 3 changed files with 4 additions and 2 deletions.
diff --git a/app/rpi/common/include/behaviour_tree/BehaviourTreeHandler.hpp b/app/rpi/common/include/behaviour_tree/BehaviourTreeHandler.hpp
@@ -124,7 +124,7 @@ namespace behaviour_tree
 			{
                 const std::chrono::time_point<std::chrono::steady_clock> now = std::chrono::steady_clock::now();
                 // TODO:
-                if (this->last_connected >= this->car_system->getConfiguration()->behaviour_tree_update_ms_interval) {
+                if (now - this->last_connected >= this->car_system->getConfiguration()->behaviour_tree_update_ms_interval) {
                     this->context->update(this->tick_count);
                     this->tick_count++;
                     this->last_connected = now;

diff --git a/app/rpi/daemon/src/main.cpp b/app/rpi/daemon/src/main.cpp
@@ -65,6 +65,8 @@ class rpi_daemon : public daemon
         const std::string lidar_port = reader.GetString("RaspberryPi", "lidar_port", default_lidar_port);
         dlog::info(fmt::format("Using lidar port: {}", lidar_port));
         configuration->lidar_port = lidar_port;
+
+        configuration->behaviour_tree_update_ms_interval = std::chrono::milliseconds(reader.GetInteger("RaspberryPi", "behaviour_tree_update_ms_interval", 100));
 
         this->any_configuration_empty = host.empty();
         if (this->any_configuration_empty)

diff --git a/app/rpi/tui/src/car/configuration/JsonConfiguration.cxx b/app/rpi/tui/src/car/configuration/JsonConfiguration.cxx
@@ -68,7 +68,7 @@ namespace car::configuration
                     configuration.lidar_port = "COM3";
 #endif
                 }
-                configuration.behaviour_tree_update_ms_interval = config_json["behaviour_tree_update_ms_interval"].GetInt();
+                configuration.behaviour_tree_update_ms_interval = std::chrono::milliseconds(config_json["behaviour_tree_update_ms_interval"].GetInt());
                 return configuration;
             }
             catch (const std::exception &e)