Able to change direction of rear wheels via cli

Chi-EEE · Jan 11, 2024 · e182f8a · e182f8a
1 parent 97b500a
commit e182f8a
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Showing 7 changed files with 113 additions and 21 deletions.
diff --git a/app/raspberry_pi/src/car/display/CarConsole.cpp b/app/raspberry_pi/src/car/display/CarConsole.cpp
@@ -216,13 +216,12 @@ namespace car::display {
 				if (connected) {
 					this->car_system->startLidarDevice();
 					lidar_motor_status = LIDAR_MOTOR_ENABLED_MESSAGE;
-					lidar_motor_loading_debounce = false;
 				}
 				else {
 					this->car_system->stopLidarDevice();
 					lidar_motor_status = LIDAR_MOTOR_DISABLED_MESSAGE;
-					lidar_motor_loading_debounce = false;
 				}
+				lidar_motor_loading_debounce = false;
 			}
 		);
 
@@ -243,6 +242,46 @@ namespace car::display {
 		auto rear_left_wheel_speed_slider = Slider("Left Rear Wheel Speed:", &rear_left_wheel_speed_slider_value, 0, 100, 1);
 		auto rear_right_wheel_speed_slider = Slider("Right Rear Wheel Speed:", &rear_right_wheel_speed_slider_value, 0, 100, 1);
 
+		static constexpr auto REAR_WHEEL_DIRECTION_FORWARD_MESSAGE = "Rear Wheel Direction: Forward";
+		static constexpr auto REAR_WHEEL_DIRECTION_BACKWARD_MESSAGE = "Rear Wheel Direction: Backward";
+
+		nod::signal<void(bool)> rear_wheel_direction_signal;
+
+		bool rear_wheel_direction_debounce = false;
+		std::string rear_wheel_direction_status = LIDAR_MOTOR_DISABLED_MESSAGE;
+		bool rear_wheel_direction = true;
+		auto rear_wheel_direction_checkbox_option = CheckboxOption::Simple();
+		rear_wheel_direction_checkbox_option.on_change = [&]
+			{
+				if (rear_wheel_direction_debounce) {
+					rear_wheel_direction = !rear_wheel_direction;
+					return;
+				}
+				rear_wheel_direction_debounce = true;
+				if (rear_wheel_direction) {
+					rear_wheel_direction_status = REAR_WHEEL_DIRECTION_FORWARD_MESSAGE;
+				}
+				else {
+					rear_wheel_direction_status = REAR_WHEEL_DIRECTION_BACKWARD_MESSAGE;
+				}
+				rear_wheel_direction_signal(rear_wheel_direction);
+			};
+
+		rear_wheel_direction_signal.connect([&](bool direction)
+			{
+				if (direction) {
+					this->car_system->setRearWheelDirectionToForwards();
+					rear_wheel_direction_status = REAR_WHEEL_DIRECTION_FORWARD_MESSAGE;
+				}
+				else {
+					this->car_system->setRearWheelDirectionToBackwards();
+					rear_wheel_direction_status = REAR_WHEEL_DIRECTION_BACKWARD_MESSAGE;
+				}
+				rear_wheel_direction_debounce = false;
+			}
+		);
+		auto rear_wheel_direction_checkbox_component = Checkbox(&rear_wheel_direction_status, &rear_wheel_direction, rear_wheel_direction_checkbox_option);
+
 		int previous_front_wheels_angle_slider_value = DEFAULT_FRONT_WHEEL_ANGLE;
 
 		int front_wheels_angle_slider_value = DEFAULT_FRONT_WHEEL_ANGLE;
@@ -253,15 +292,20 @@ namespace car::display {
 		auto front_left_wheel_angle_slider = Slider("Left Front Wheel Angle:", &front_left_wheel_angle_slider_value, 0, 180, 1);
 		auto front_right_wheel_angle_slider = Slider("Right Front Wheel Angle:", &front_right_wheel_angle_slider_value, 0, 180, 1);
 
+		auto rear_wheel_menu_entry = MenuEntry("Rear Wheel:") | bold;
+		auto front_wheel_menu_entry = MenuEntry("Front Wheel:") | bold;
 
 		auto slider_container =
 			Container::Horizontal({
 				Container::Vertical({
+					rear_wheel_menu_entry,
 					rear_wheel_speed_slider,
 					rear_left_wheel_speed_slider,
 					rear_right_wheel_speed_slider,
+					rear_wheel_direction_checkbox_component,
 				}),
 				Container::Vertical({
+					front_wheel_menu_entry,
 					front_wheels_angle_slider,
 					front_left_wheel_angle_slider,
 					front_right_wheel_angle_slider,
@@ -272,16 +316,22 @@ namespace car::display {
 			return
 				hbox({
 					vbox({
+						rear_wheel_menu_entry->Render(),
+						separator(),
 						rear_wheel_speed_slider->Render(),
 						separator(),
 						rear_left_wheel_speed_slider->Render(),
 						rear_right_wheel_speed_slider->Render(),
 						separator(),
 						text("Left Rear Wheel Speed: " + std::to_string(rear_left_wheel_speed_slider_value)),
 						text("Right Rear Wheel Speed: " + std::to_string(rear_right_wheel_speed_slider_value)),
+						separator(),
+						rear_wheel_direction_checkbox_component->Render(),
 					}) | xflex,
 					separator(),
 					vbox({
+						front_wheel_menu_entry->Render(),
+						separator(),
 						front_wheels_angle_slider->Render(),
 						separator(),
 						front_left_wheel_angle_slider->Render(),

diff --git a/app/raspberry_pi/src/car/system/CarSystem.cpp b/app/raspberry_pi/src/car/system/CarSystem.cpp
@@ -106,4 +106,13 @@ namespace car::system
 	{
 		this->movement_system->setFrontRightWheelAngle(angle_command);
 	}
+
+	void CarSystem::setRearWheelDirectionToForwards()
+	{
+		this->movement_system->setRearWheelDirectionToForwards();
+	}
+	void CarSystem::setRearWheelDirectionToBackwards()
+	{
+		this->movement_system->setRearWheelDirectionToBackwards();
+	}
 }
diff --git a/app/raspberry_pi/src/car/system/CarSystem.h b/app/raspberry_pi/src/car/system/CarSystem.h
@@ -42,6 +42,9 @@ namespace car::system {
 		void setFrontLeftWheelAngle(const AngleCommand& angle_command);
 		void setFrontRightWheelAngle(const AngleCommand& angle_command);
 
+		void setRearWheelDirectionToForwards();
+		void setRearWheelDirectionToBackwards();
+
 		const std::vector<Measure>& getScanData() const { return this->scan_data; }
 
 	private:

diff --git a/app/raspberry_pi/src/car/system/movement/MovementSystem.cxx b/app/raspberry_pi/src/car/system/movement/MovementSystem.cxx
@@ -62,6 +62,15 @@ namespace car::system::movement {
 		{
 			this->wheel_controller->setFrontRightWheelAngle(angle_command);
 		}
+
+		void setRearWheelDirectionToForwards()
+		{
+			this->wheel_controller->setRearWheelDirectionToForwards();
+		}
+		void setRearWheelDirectionToBackwards()
+		{
+			this->wheel_controller->setRearWheelDirectionToBackwards();
+		}
 #pragma endregion
 
 

diff --git a/app/raspberry_pi/src/car/system/movement/controller/AbstractWheelController.cxx b/app/raspberry_pi/src/car/system/movement/controller/AbstractWheelController.cxx
@@ -23,6 +23,9 @@ namespace car::system::movement::controller
 
         virtual void setFrontLeftWheelAngle(const AngleCommand& angle_command) = 0;
         virtual void setFrontRightWheelAngle(const AngleCommand& angle_command) = 0;
+
+        virtual void setRearWheelDirectionToForwards() = 0;
+        virtual void setRearWheelDirectionToBackwards() = 0;
     };
 } // namespace car::system::movement::controller
 

diff --git a/app/raspberry_pi/src/car/system/movement/controller/CarWheelController.cxx b/app/raspberry_pi/src/car/system/movement/controller/CarWheelController.cxx
@@ -99,6 +99,16 @@ namespace car::system::movement::controller
 			this->front_right_wheel->setAngle(angle_command.angle);
 		}
 
+		void setRearWheelDirectionToForwards() override {
+			this->rear_left_wheel->forward();
+			this->rear_right_wheel->forward();
+		}
+
+		void setRearWheelDirectionToBackwards() override {
+			this->rear_left_wheel->backward();
+			this->rear_right_wheel->backward();
+		}
+
 	private:
 		std::shared_ptr<PCA9685> pwm;
 

diff --git a/app/raspberry_pi/src/car/system/movement/controller/DummyWheelController.cxx b/app/raspberry_pi/src/car/system/movement/controller/DummyWheelController.cxx
@@ -7,36 +7,44 @@
 
 namespace car::system::movement::controller
 {
-    class DummyWheelController : public AbstractWheelController
-    {
-    public:
-        void initialize(){};
+	class DummyWheelController : public AbstractWheelController
+	{
+	public:
+		void initialize() {};
 
-        void setRearWheelsSpeed(const SpeedCommand &speed_command) override {
-
-        }
+		void setRearWheelsSpeed(const SpeedCommand& speed_command) override {
 
-        void setFrontWheelsAngle(const AngleCommand &angle_command) override {
+		}
 
-        }
+		void setFrontWheelsAngle(const AngleCommand& angle_command) override {
 
-        void setRearLeftWheelSpeed(const SpeedCommand& speed_command) override {
+		}
 
-        }
+		void setRearLeftWheelSpeed(const SpeedCommand& speed_command) override {
 
-        void setRearRightWheelSpeed(const SpeedCommand& speed_command) override {
+		}
 
-        }
+		void setRearRightWheelSpeed(const SpeedCommand& speed_command) override {
 
-        void setFrontLeftWheelAngle(const AngleCommand& angle_command) override {
+		}
 
-        }
+		void setFrontLeftWheelAngle(const AngleCommand& angle_command) override {
 
-        void setFrontRightWheelAngle(const AngleCommand& angle_command) override {
+		}
 
-        }
-    private:
-    };
+		void setFrontRightWheelAngle(const AngleCommand& angle_command) override {
+
+		}
+
+		void setRearWheelDirectionToForwards() override {
+
+		}
+
+		void setRearWheelDirectionToBackwards() override {
+
+		}
+	private:
+	};
 } // namespace car::system::movement::controller
 
 #endif