Turtle functionality in RemoteControl

lib/APPRemoteControl/src/App.cpp

@@ -200,8 +200,6 @@ void App::handleRemoteCommand(const Command& cmd)
         Odometry::getInstance().clearMileage();
         Odometry::getInstance().setPosition(cmd.xPos, cmd.yPos);
         Odometry::getInstance().setOrientation(cmd.orientation);
-
-        StartupState::getInstance().notifyInitialDataIsSet();
         break;
 
     default:
@@ -286,9 +284,9 @@ bool App::setupSerialMuxProt()
 
     /* Channel subscription. */
     m_smpServer.subscribeToChannel(COMMAND_CHANNEL_NAME, App_cmdChannelCallback);
-    m_smpServer.subscribeToChannel(SPEED_SETPOINT_CHANNEL_NAME, App_motorSpeedSetpointsChannelCallback);
+    m_smpServer.subscribeToChannel(MOTOR_SPEED_SETPOINT_CHANNEL_NAME, App_motorSpeedSetpointsChannelCallback);
     m_smpServer.subscribeToChannel(STATUS_CHANNEL_NAME, App_statusChannelCallback);
-    m_smpServer.subscribeToChannel(TURTLE_CHANNEL_NAME, App_turtleChannelCallback);
+    m_smpServer.subscribeToChannel(ROBOT_SPEED_SETPOINT_CHANNEL_NAME, App_turtleChannelCallback);
 
     /* Channel creation. */
     m_serialMuxProtChannelIdRemoteCtrlRsp =
@@ -363,9 +361,9 @@ static void App_cmdChannelCallback(const uint8_t* payload, const uint8_t payload
 void App_motorSpeedSetpointsChannelCallback(const uint8_t* payload, const uint8_t payloadSize, void* userData)
 {
     (void)userData;
-    if ((nullptr != payload) && (SPEED_SETPOINT_CHANNEL_DLC == payloadSize))
+    if ((nullptr != payload) && (MOTOR_SPEED_SETPOINT_CHANNEL_DLC == payloadSize))
     {
-        const SpeedData* motorSpeedData = reinterpret_cast<const SpeedData*>(payload);
+        const MotorSpeed* motorSpeedData = reinterpret_cast<const MotorSpeed*>(payload);
         DrivingState::getInstance().setTargetSpeeds(motorSpeedData->left, motorSpeedData->right);
     }
 }
@@ -390,16 +388,16 @@ void App_statusChannelCallback(const uint8_t* payload, const uint8_t payloadSize
 /**
  * Receives Turtle speed setpoints over SerialMuxProt channel.
  *
- * @param[in] payload       Linear and angular speed setpoints in a TurtleSpeed structure.
- * @param[in] payloadSize   Size of the TurtleSpeed structure.
+ * @param[in] payload       Linear and angular speed setpoints in a RobotSpeed structure.
+ * @param[in] payloadSize   Size of the RobotSpeed structure.
  * @param[in] userData      Instance of App class.
  */
 void App_turtleChannelCallback(const uint8_t* payload, const uint8_t payloadSize, void* userData)
 {
     (void)userData;
-    if ((nullptr != payload) && (TURTLE_CHANNEL_DLC == payloadSize))
+    if ((nullptr != payload) && (ROBOT_SPEED_SETPOINT_CHANNEL_DLC == payloadSize))
     {
-        const TurtleSpeed* turtleSpeedData = reinterpret_cast<const TurtleSpeed*>(payload);
+        const RobotSpeed*  turtleSpeedData = reinterpret_cast<const RobotSpeed*>(payload);
         DifferentialDrive& diffDrive       = DifferentialDrive::getInstance();
         int16_t            angularSpeed    = static_cast<int16_t>(turtleSpeedData->angular);
 
@@ -411,8 +409,5 @@ void App_turtleChannelCallback(const uint8_t* payload, const uint8_t payloadSize
 
         /* Angular speed is set on-top of the linear speed. Must be called after setLinearSpeed(). */
         diffDrive.setAngularSpeed(angularSpeed);
-
-        /* Turtle expects no initial data. Can be called without side-effects when no longer in StartupState. */
-        StartupState::getInstance().notifyInitialDataIsSet();
     }
 }

lib/APPRemoteControl/src/SerialMuxChannels.h

@@ -59,10 +59,16 @@
 #define COMMAND_RESPONSE_CHANNEL_DLC (sizeof(CommandResponse))
 
 /** Name of Channel to send Motor Speed Setpoints to. */
-#define SPEED_SETPOINT_CHANNEL_NAME "SPEED_SET"
+#define MOTOR_SPEED_SETPOINT_CHANNEL_NAME "MOTOR_SET"
 
-/** DLC of Speedometer Channel */
-#define SPEED_SETPOINT_CHANNEL_DLC (sizeof(SpeedData))
+/** DLC of Motor Speed Setpoint Channel */
+#define MOTOR_SPEED_SETPOINT_CHANNEL_DLC (sizeof(MotorSpeed))
+
+/** Name of the Channel to send Robot Speed Setpoints to. */
+#define ROBOT_SPEED_SETPOINT_CHANNEL_NAME "ROBOT_SET"
+
+/** DLC of Robot Speed Setpoint Channel */
+#define ROBOT_SPEED_SETPOINT_CHANNEL_DLC (sizeof(RobotSpeed))
 
 /** Name of Channel to send Current Vehicle Data to. */
 #define CURRENT_VEHICLE_DATA_CHANNEL_NAME "CURR_DATA"
@@ -82,12 +88,6 @@
 /** DLC of Line Sensor Channel */
 #define LINE_SENSOR_CHANNEL_DLC (sizeof(LineSensorData))
 
-/** Name of the Channel to send Turtle Speeds. */
-#define TURTLE_CHANNEL_NAME "TURTLE"
-
-/** DLC of Turtle Channel */
-#define TURTLE_CHANNEL_DLC (sizeof(TurtleSpeed))
-
 /******************************************************************************
  * Types and Classes
  *****************************************************************************/
@@ -179,13 +179,19 @@ typedef struct _CommandResponse
     };
 } __attribute__((packed)) CommandResponse;
 
-/** Struct of the "Speed" channel payload. */
-typedef struct _SpeedData
+/** Struct of the "Motor Speed Setpoints" channel payload. */
+typedef struct _MotorSpeed
+{
+    int32_t left;  /**< Left motor speed [mm/s] */
+    int32_t right; /**< Right motor speed [mm/s] */
+} __attribute__((packed)) MotorSpeed;
+
+/** Struct of the "Robot Speed Setpoints" channel payload. */
+typedef struct _RobotSpeed
 {
-    int32_t left;   /**< Left motor speed [mm/s] */
-    int32_t right;  /**< Right motor speed [mm/s] */
-    int32_t center; /**< Center motor speed [mm/s] */
-} __attribute__((packed)) SpeedData;
+    int32_t linearCenter; /**< Linear speed of the vehicle center. [mm/s] */
+    int32_t angular;      /**< Angular speed. [mrad/s] */
+} __attribute__((packed)) RobotSpeed;
 
 /** Struct of the "Current Vehicle Data" channel payload. */
 typedef struct _VehicleData
@@ -211,13 +217,6 @@ typedef struct _LineSensorData
     uint16_t lineSensorData[5U]; /**< Line sensor data [digits] normalized to max 1000 digits. */
 } __attribute__((packed)) LineSensorData;
 
-/** Struct of the "Turtle" channel payload. */
-typedef struct _TurtleSpeed
-{
-    int32_t linearCenter; /**< Linear speed of the vehicle center. [mm/s] */
-    int32_t angular;      /**< Angular speed. [mrad/s] */
-} __attribute__((packed)) TurtleSpeed;
-
 /******************************************************************************
  * Functions
  *****************************************************************************/

lib/APPRemoteControl/src/StartupState.cpp

@@ -96,7 +96,7 @@ void StartupState::process(StateMachine& sm)
         ErrorState::getInstance().setErrorMsg("MCAL=0");
         sm.setState(&ErrorState::getInstance());
     }
-    else if (true == m_initialDataSet)
+    else
     {
         sm.setState(&DrivingState::getInstance());
     }

lib/APPRemoteControl/src/StartupState.h

@@ -89,30 +89,17 @@ class StartupState : public IState
      */
     void exit() final;
 
-    /**
-     * Notify the state, that the initial data set was received.
-     */
-    void notifyInitialDataIsSet()
-    {
-        m_initialDataSet = true;
-    }
-
 protected:
 private:
     /**
      * Duration in ms how long the application name shall be shown at startup.
      */
     static const uint32_t APP_NAME_DURATION = 2000U;
 
-    /**
-     * Flag to indicate, that the initial data was set.
-     */
-    bool m_initialDataSet;
-
     /**
      * Default constructor.
      */
-    StartupState() : m_initialDataSet(false)
+    StartupState()
     {
     }