merge changes

hytech-racing · Oct 20, 2024 · 7490ed6 · 7490ed6
1 parent e501659
commit 7490ed6
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Showing 4 changed files with 17 additions and 35 deletions.
diff --git a/lib/systems/include/DrivebrainController.h b/lib/systems/include/DrivebrainController.h
@@ -27,11 +27,7 @@ class DrivebrainController : public Controller
                          float max_fault_clear_speed_m_s = 1.0,
                          ControllerMode_e assigned_controller_mode = ControllerMode_e::MODE_4)
     {
-<<<<<<< Updated upstream
-        _last_worst_latency_rec_time =0;
-=======
         _last_worst_latency_timestamp = 0;
->>>>>>> Stashed changes
         _worst_latency_so_far = -1;
         _params = {allowed_latency, max_fault_clear_speed_m_s, assigned_controller_mode};
     }

diff --git a/lib/systems/src/DrivebrainController.cpp b/lib/systems/src/DrivebrainController.cpp
@@ -17,19 +17,9 @@ TorqueControllerOutput_s DrivebrainController::evaluate(const SharedCarState_s &
     // Serial.println("uh");
     // 3 if the time between the current MCU sys_tick.millis time and the last millis time that the drivebrain received is too high
     bool message_too_latent = (::abs((int)(sys_tick.millis - db_input.DB_prev_MCU_recv_millis)) > (int)_params.allowed_latency);
-<<<<<<< Updated upstream
-    if((sys_tick.millis - _last_worst_latency_rec_time) > 5000)
-    {
-        // Serial.print("_worst_latency_so_far ");
-        // Serial.println(_worst_latency_so_far);
-        // Serial.print("errord:");
-        // Serial.println(_timing_failure);
-        _last_worst_latency_rec_time = sys_tick.millis;
-=======
     if((sys_tick.millis - _last_worst_latency_timestamp) > 5000)
     {    
         _last_worst_latency_timestamp = sys_tick.millis;
->>>>>>> Stashed changes
         _worst_latency_so_far = -1;
     }
 

diff --git a/platformio.ini b/platformio.ini
@@ -4,11 +4,7 @@ lib_deps_shared =
   git+ssh://[email protected]/hytech-racing/CASE_lib.git#v49
   https://github.com/hytech-racing/shared_firmware_types.git#feb3b83
   https://github.com/hytech-racing/shared_firmware_systems.git#af96a63
-<<<<<<< Updated upstream
-  https://github.com/hytech-racing/HT_proto/releases/download/2024-10-07T23_13_48/hytech_msgs_pb_lib.tar.gz
-=======
   https://github.com/hytech-racing/HT_proto/releases/download/2024-10-20T18_54_37/hytech_msgs_pb_lib.tar.gz
->>>>>>> Stashed changes
 
 [env:test_env]
 platform = native

diff --git a/src/main.cpp b/src/main.cpp
@@ -344,7 +344,7 @@ void tick_all_systems(const SysTick_s &current_system_tick);
 /* Reset inverters */
 void drivetrain_reset();
 
-void handle_ethernet_interface_comms();
+// void handle_ethernet_interface_comms(const SysTick_s &systick, const hytech_msgs_MCUOutputData &out_msg);
 
 /*
     SETUP
@@ -652,19 +652,19 @@ void tick_all_systems(const SysTick_s &current_system_tick)
         vn_interface.get_vn_struct().vn_status);
 }
 
-void handle_ethernet_interface_comms()
-{
-    // function that will handle receiving and distributing of all messages to all ethernet interfaces
-    // via the union message. this is a little bit cursed ngl.
-    // TODO un fuck this and make it more sane
-    // Serial.println("bruh");
-    // handle_ethernet_socket_receive(&protobuf_recv_socket, &recv_pb_stream_union_msg, ethernet_interfaces);
-
-    std::function<void(unsigned long, const uint8_t *, size_t, DrivebrainETHInterface &, const pb_msgdesc_t *)> recv_boi = &recv_pb_stream_msg<hytech_msgs_MCUCommandData, DrivebrainETHInterface>;
-    handle_ethernet_socket_receive<1024, hytech_msgs_MCUCommandData>(systick, &protobuf_recv_socket, recv_boi, db_eth_interface, hytech_msgs_MCUCommandData_fields);
-
-    if (systick.triggers.trigger1000)
-    {
-        handle_ethernet_socket_send_pb<hytech_msgs_MCUOutputData, 1024>(EthParams::default_TCU_ip, EthParams::default_protobuf_send_port, &protobuf_send_socket, out_msg, hytech_msgs_MCUOutputData_fields);
-    }
-}
+// void handle_ethernet_interface_comms(const SysTick_s &systick, const hytech_msgs_MCUOutputData &out_msg)
+// {
+//     // function that will handle receiving and distributing of all messages to all ethernet interfaces
+//     // via the union message. this is a little bit cursed ngl.
+//     // TODO un fuck this and make it more sane
+//     // Serial.println("bruh");
+//     // handle_ethernet_socket_receive(&protobuf_recv_socket, &recv_pb_stream_union_msg, ethernet_interfaces);
+
+//     std::function<void(unsigned long, const uint8_t *, size_t, DrivebrainETHInterface &, const pb_msgdesc_t *)> recv_boi = &recv_pb_stream_msg<hytech_msgs_MCUCommandData, DrivebrainETHInterface>;
+//     handle_ethernet_socket_receive<1024, hytech_msgs_MCUCommandData>(systick, &protobuf_recv_socket, recv_boi, db_eth_interface, hytech_msgs_MCUCommandData_fields);
+
+//     if (systick.triggers.trigger1000)
+//     {
+//         handle_ethernet_socket_send_pb<hytech_msgs_MCUOutputData, 1024>(EthParams::default_TCU_ip, EthParams::default_protobuf_send_port, &protobuf_send_socket, out_msg, hytech_msgs_MCUOutputData_fields);
+//     }
+// }