From 5b59f6d5b9caae3880a55a5feb590dc3b39e9e3c Mon Sep 17 00:00:00 2001
From: Franz Bethke <bethke@math.hu-berlin.de>
Date: Tue, 3 Apr 2018 12:50:27 +0200
Subject: [PATCH] fixed typos -> now running
---
.../catkin_ws/src/car/include/mainNode/PlatoonController.h | 2 +-
modules/catkin_ws/src/car/src/mainNode/MainNode.cpp | 4 ++--
modules/catkin_ws/src/car/src/mainNode/PlatoonController.cpp | 5 +++--
3 files changed, 6 insertions(+), 5 deletions(-)
diff --git a/modules/catkin_ws/src/car/include/mainNode/PlatoonController.h b/modules/catkin_ws/src/car/include/mainNode/PlatoonController.h
index d68df79b..7f858bf2 100644
--- a/modules/catkin_ws/src/car/include/mainNode/PlatoonController.h
+++ b/modules/catkin_ws/src/car/include/mainNode/PlatoonController.h
@@ -41,7 +41,7 @@ private:
bool wantsPlatoon = false;
// TODO check these values!
- PlatoonConfig platoonConfig {50.0, 0.0}; // IPD=50.0 PS=0.0
+ platoonProtocol::PlatoonConfig platoonConfig {50.0, 0.0}; // IPD=50.0 PS=0.0
float desSpeed = 0.0;
// METHODS
diff --git a/modules/catkin_ws/src/car/src/mainNode/MainNode.cpp b/modules/catkin_ws/src/car/src/mainNode/MainNode.cpp
index 1cad6c10..29e50dfc 100644
--- a/modules/catkin_ws/src/car/src/mainNode/MainNode.cpp
+++ b/modules/catkin_ws/src/car/src/mainNode/MainNode.cpp
@@ -22,7 +22,7 @@ MainNode::MainNode(ros::NodeHandle & nh, std::string & name) :
egoMotion.cruiseControllerNotify = cruiseControllerNotify;
egoMotion.platoonControllerNotify = platoonControllerNotify;
platoonController.cruiseControllerNotify = cruiseControllerNotify;
- // std::cout << "Called MainNode(ros::NodeHandle & nh, std::string & name)." << std::endl;
+ // pc->reciveCommands([this] (auto commandCode) {platoonControllerThread.notify();} )
}
MainNode::MainNode() :
@@ -41,7 +41,7 @@ MainNode::MainNode() :
egoMotion.cruiseControllerNotify = cruiseControllerNotify;
egoMotion.platoonControllerNotify = platoonControllerNotify;
platoonController.cruiseControllerNotify = cruiseControllerNotify;
- // std::cout << "Called MainNode()." << std::endl;
+ // pc->reciveCommands([this] (auto commandCode) {platoonControllerThread.notify();} )
}
MainNode::~MainNode()
diff --git a/modules/catkin_ws/src/car/src/mainNode/PlatoonController.cpp b/modules/catkin_ws/src/car/src/mainNode/PlatoonController.cpp
index 2adb912f..9eaf8297 100644
--- a/modules/catkin_ws/src/car/src/mainNode/PlatoonController.cpp
+++ b/modules/catkin_ws/src/car/src/mainNode/PlatoonController.cpp
@@ -3,6 +3,7 @@
//
#include "../../include/mainNode/PlatoonController.h"
+#include "PlatoonProtocolLib/FollowerVehicle.h"
#include <iostream>
namespace car
@@ -46,7 +47,7 @@ void car::PlatoonController::run_ACC() {
void car::PlatoonController::run_CACC_FV() {
bool inPlatoon = c2c->isPlatoonRunning();
- platoonConfig = c2c->getPlatoonConfig();
+ platoonConfig = std::dynamic_pointer_cast<platoonProtocol::FollowerVehicle>(c2c)->getPlatoonConfig();
wantsPlatoon = pc->isPlatoonEnabled().get();
@@ -62,7 +63,7 @@ void car::PlatoonController::run_CACC_FV() {
c2c->leavePlatoon();
}
- c2c
+ // TODO: c2c->reset()
curState = State::ACC;
cruiseControllerNotify();
run_ACC();
--
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