Fixed review findings

BlueAndi · Sep 3, 2024 · ad602c4 · ad602c4
1 parent 96c2f8f
commit ad602c4
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Showing 2 changed files with 22 additions and 4 deletions.
diff --git a/lib/APPRemoteControl/src/App.cpp b/lib/APPRemoteControl/src/App.cpp
@@ -363,8 +363,10 @@ void App_motorSpeedSetpointsChannelCallback(const uint8_t* payload, const uint8_
     (void)userData;
     if ((nullptr != payload) && (MOTOR_SPEED_SETPOINT_CHANNEL_DLC == payloadSize))
     {
-        const MotorSpeed* motorSpeedData = reinterpret_cast<const MotorSpeed*>(payload);
-        DrivingState::getInstance().setMotorSpeeds(motorSpeedData->left, motorSpeedData->right);
+        const MotorSpeed* motorSpeedData  = reinterpret_cast<const MotorSpeed*>(payload);
+        int16_t           leftMotorSpeed  = Util::millimetersPerSecondToStepsPerSecond(motorSpeedData->left);
+        int16_t           rightMotorSpeed = Util::millimetersPerSecondToStepsPerSecond(motorSpeedData->right);
+        DrivingState::getInstance().setMotorSpeeds(leftMotorSpeed, rightMotorSpeed);
     }
 }
 

diff --git a/lib/MainNative/src/main.cpp b/lib/MainNative/src/main.cpp
@@ -58,6 +58,7 @@ typedef struct
     bool        isZumoComSystemEnabled; /**< Is the ZumoComSystem enabled? */
     const char* serialRxChannel;        /**< Serial Rx channel */
     const char* serialTxChannel;        /**< Serial Tx channel */
+    const char* cwd;                    /**< Current working directory */
 
 } PrgArguments;
 
@@ -78,7 +79,7 @@ static void          systemDelay(unsigned long ms);
 static const struct option LONG_OPTIONS[] = {{"help", no_argument, nullptr, 0},
                                              {"serialRxCh", required_argument, nullptr, 0},
                                              {"serialTxCh", required_argument, nullptr, 0},
-                                             {"cwd",        required_argument, nullptr, 0},
+                                             {"cwd", required_argument, nullptr, 0},
                                              {nullptr, no_argument, nullptr, 0}}; /* Marks the end. */
 
 /** Program argument default value of the robot name. */
@@ -96,6 +97,9 @@ static const char PRG_ARG_SERIAL_RX_CH_DEFAULT[] = "1";
 /** Program argument default value of the serial tx channel. */
 static const char PRG_ARG_SERIAL_TX_CH_DEFAULT[] = "2";
 
+/** Program argument default value of the current working directory. */
+static const char* PRG_ARG_CWD_DEFAULT = ".";
+
 /**
  * The maximum duration a simulated time step can have.
  * Everything above would cause missbehaviour in the application.
@@ -144,6 +148,16 @@ extern int main(int argc, char** argv)
             showPrgArguments(prgArguments);
         }
 
+        /* Set the current working directory. */
+        if (0 != strcmp(PRG_ARG_CWD_DEFAULT, prgArguments.cwd))
+        {
+            if (0 != chdir(prgArguments.cwd))
+            {
+                printf("Failed to set current working directory: %s\n", prgArguments.cwd);
+                status = -1;
+            }
+        }
+
         /* It might happen that the user enables the ZumoComSystem, but the
          * choosen application doesn't support it.
          */
@@ -246,6 +260,7 @@ static int handleCommandLineArguments(PrgArguments& prgArguments, int argc, char
     prgArguments.isZumoComSystemEnabled = PRG_ARG_IS_ZUMO_COM_SYSTEM_ENABLED_DEFAULT;
     prgArguments.serialRxChannel        = PRG_ARG_SERIAL_RX_CH_DEFAULT;
     prgArguments.serialTxChannel        = PRG_ARG_SERIAL_TX_CH_DEFAULT;
+    prgArguments.cwd                    = PRG_ARG_CWD_DEFAULT;
 
     while ((-1 != option) && (0 == status))
     {
@@ -267,7 +282,7 @@ static int handleCommandLineArguments(PrgArguments& prgArguments, int argc, char
             }
             else if (0 == strcmp(LONG_OPTIONS[optionIndex].name, "cwd"))
             {
-                chdir(optarg);
+                prgArguments.cwd = optarg;
             }
             else
             {
@@ -330,6 +345,7 @@ static void showPrgArguments(const PrgArguments& prgArgs)
     printf("ZumoComSystem    : %s\n", (false == prgArgs.isZumoComSystemEnabled) ? "disabled" : "enabled");
     printf("Serial rx channel: %s\n", prgArgs.serialRxChannel);
     printf("Serial tx channel: %s\n", prgArgs.serialTxChannel);
+    printf("Current working directory: %s\n", prgArgs.cwd);
     /* Skip verbose flag. */
 }