Able to get Lidar Device from Daemon

Chi-EEE · Apr 16, 2024 · cc138e0 · cc138e0
1 parent cf3378e
commit cc138e0
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Showing 3 changed files with 10 additions and 7 deletions.
diff --git a/app/rpi/common/src/car/system/CarSystem.cpp b/app/rpi/common/src/car/system/CarSystem.cpp
@@ -137,7 +137,6 @@ namespace car::system
 		output_json.Accept(writer);
 
 		std::string output_json_string = buffer.GetString();
-		spdlog::info("Sending message: {}", output_json_string);
 		this->messaging_system_->sendMessage(output_json_string);
 	}
 

diff --git a/app/rpi/daemon/src/main.cpp b/app/rpi/daemon/src/main.cpp
@@ -57,7 +57,12 @@ class rpi_daemon : public daemon
         dlog::info(fmt::format("Started daemon with host: {}", host));
         configuration->host = host;
 
-        const std::string lidar_port = reader.GetString("RaspberryPi", "lidar_port", "");
+#ifdef __linux
+        const std::string default_lidar_port = "/dev/ttyUSB0";
+#else
+        const std::string default_lidar_port = "COM3";
+#endif
+        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;
 

diff --git a/app/rpi/tui/src/main.cpp b/app/rpi/tui/src/main.cpp
@@ -46,7 +46,7 @@ using namespace car::display::console;
 using namespace car::configuration;
 using namespace car::plugin;
 
-std::unique_ptr<LidarDevice> getLidarDevice();
+std::unique_ptr<LidarDevice> getLidarDevice(std::shared_ptr<Configuration> configuration);
 std::unique_ptr<AbstractMovementController> getMovementController();
 
 int main(int argc, char* argv[])
@@ -73,7 +73,7 @@ int main(int argc, char* argv[])
 	}
 
 	std::unique_ptr<CameraDevice> camera_device = std::move(maybe_camera_device.value());
-	std::unique_ptr<LidarDevice> lidar_device = getLidarDevice();
+	std::unique_ptr<LidarDevice> lidar_device = getLidarDevice(configuration);
 
 	std::unique_ptr<DeviceManager> device_manager = std::make_unique<DeviceManager>(std::move(camera_device), std::move(lidar_device));
 
@@ -107,10 +107,9 @@ int main(int argc, char* argv[])
 	return EXIT_SUCCESS;
 }
 
-std::unique_ptr<lidar::LidarDevice> getLidarDevice()
+std::unique_ptr<lidar::LidarDevice> getLidarDevice(std::shared_ptr<Configuration> configuration)
 {
-	Configuration configuration;
-	auto maybe_scanner = LidarScanner::create(std::make_shared<Configuration>(configuration));
+	auto maybe_scanner = LidarScanner::create(configuration);
 	if (maybe_scanner.has_value())
 	{
 		spdlog::info("Found and using Lidar Scanner\n");