Renamed arm packet and added comments

huskyroboticsteam · Oct 3, 2023 · 7947461 · 7947461
1 parent 5adaa35
commit 7947461
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Showing 2 changed files with 8 additions and 5 deletions.
diff --git a/src/network/MissionControlProtocol.cpp b/src/network/MissionControlProtocol.cpp
@@ -37,7 +37,7 @@ const std::chrono::milliseconds TELEM_REPORT_PERIOD = 100ms;
 constexpr const char* EMERGENCY_STOP_REQ_TYPE = "emergencyStopRequest";
 constexpr const char* OPERATION_MODE_REQ_TYPE = "operationModeRequest";
 constexpr const char* DRIVE_REQ_TYPE = "driveRequest";
-constexpr const char* ARM_IK_ENABLED_TYPE = "setArmIKEnabled";
+constexpr const char* ARM_IK_ENABLED_TYPE = "requestArmIKEnabled";
 constexpr const char* MOTOR_POWER_REQ_TYPE = "motorPowerRequest";
 constexpr const char* JOINT_POWER_REQ_TYPE = "jointPowerRequest";
 constexpr const char* MOTOR_POSITION_REQ_TYPE = "motorPositionRequest";
@@ -128,7 +128,7 @@ void MissionControlProtocol::handleDriveRequest(const json& j) {
 	this->setRequestedCmdVel(dtheta, dx);
 }
 
-void MissionControlProtocol::handleSetArmIKEnabled(const json& j) {
+void MissionControlProtocol::handleRequestArmIKEnabled(const json& j) {
 	bool enabled = j["enabled"];
 	if (enabled) {
 		Globals::armIKEnabled = false;
@@ -140,6 +140,9 @@ void MissionControlProtocol::handleSetArmIKEnabled(const json& j) {
 		// TODO: there should be a better way of handling invalid data than crashing.
 		// It should somehow just not enable IK, but then it needs to communicate back to MC
 		// that IK wasn't enabled?
+		// FIX: Change setArmIKOn to requestArmIkOn.
+		// Create new packet: confirmIKOn packet
+		// Rover responds with confirmIKOn after requestArmIKOn is processed
 		assert(armJointPositions.isValid());
 		Globals::planarArmController.set_setpoint(armJointPositions.getData());
 		Globals::armIKEnabled = true;
@@ -361,11 +364,11 @@ MissionControlProtocol::MissionControlProtocol(SingleClientWSServer& server)
 							validateDriveRequest);
 	this->addMessageHandler(
 		ARM_IK_ENABLED_TYPE,
-		std::bind(&MissionControlProtocol::handleSetArmIKEnabled, this, _1),
+		std::bind(&MissionControlProtocol::handleRequestArmIKEnabled, this, _1),
 		validateArmIKEnable);
 	this->addMessageHandler(
 		ARM_IK_ENABLED_TYPE,
-		std::bind(&MissionControlProtocol::handleSetArmIKEnabled, this, _1),
+		std::bind(&MissionControlProtocol::handleRequestArmIKEnabled, this, _1),
 		validateArmIKEnable);
 	this->addMessageHandler(
 		JOINT_POWER_REQ_TYPE,

diff --git a/src/network/MissionControlProtocol.h b/src/network/MissionControlProtocol.h
@@ -63,7 +63,7 @@ class MissionControlProtocol : public WebSocketProtocol { // TODO: add documenta
 	void handleCameraStreamCloseRequest(const json& j);
 	void handleJointPowerRequest(const json& j);
 	void handleDriveRequest(const json& j);
-	void handleSetArmIKEnabled(const json& j);
+	void handleRequestArmIKEnabled(const json& j);
 	void sendCameraStreamReport(const CameraID& cam,
 								const std::vector<std::basic_string<uint8_t>>& videoData);
 	void sendJointPositionReport(const std::string& jointName, int32_t position);