Merge pull request #125 from chalmers-revere/2016Q4.refactoring.dbc

2016 q4.refactoring.dbc
chalmers-revere · Dec 14, 2016 · 32fba7f · 32fba7f
2 parents 5ac1311 + d8d0538
commit 32fba7f
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Showing 8 changed files with 16 additions and 15 deletions.
diff --git a/ChangeLog b/ChangeLog
@@ -1,3 +1,4 @@
+0.4.0 - Changes due to Rhino's updated DBC file
 0.3.0 - Propagating OpenDLV.core v0.7.1 release
 0.2.0 - Updated underlying base image.
 0.1.0 - Update to new OpenDLV.core base image

diff --git a/VERSION b/VERSION
@@ -1 +1 @@
-0.3.0
+0.4.0
diff --git a/code/system/application/knowledge/src/gcdc16/rule/intersection/intersection.cpp b/code/system/application/knowledge/src/gcdc16/rule/intersection/intersection.cpp
@@ -184,8 +184,8 @@ void Intersection::nextContainer(odcore::data::Container &a_container)
   } else if (a_container.getDataType() == opendlv::perception::Environment::ID()) {
     opendlv::perception::Environment message = a_container.getData<opendlv::perception::Environment>();
     ActOnEnvironment(message);
-  } else if (a_container.getDataType() == opendlv::proxy::reverefh16::Propulsion::ID()) {
-    auto propulsion = a_container.getData<opendlv::proxy::reverefh16::Propulsion>();
+  } else if (a_container.getDataType() == opendlv::proxy::reverefh16::VehicleSpeed::ID()) {
+    auto propulsion = a_container.getData<opendlv::proxy::reverefh16::VehicleSpeed>();
     double speedKph = propulsion.getPropulsionShaftVehicleSpeed();
     float speed = static_cast<float>(speedKph / 3.6);
 

diff --git a/code/system/application/knowledge/src/gcdc16/rule/platoon/platoon.cpp b/code/system/application/knowledge/src/gcdc16/rule/platoon/platoon.cpp
@@ -228,8 +228,8 @@ void Platoon::receivedContainerMergeScenario(odcore::data::Container &a_containe
 
   //m_speed = 7; // hardcoded for testing
 
-  if (a_container.getDataType() == opendlv::proxy::reverefh16::Propulsion::ID()) {
-    auto propulsion = a_container.getData<opendlv::proxy::reverefh16::Propulsion>();
+  if (a_container.getDataType() == opendlv::proxy::reverefh16::VehicleSpeed::ID()) {
+    auto propulsion = a_container.getData<opendlv::proxy::reverefh16::VehicleSpeed>();
     double speedKph = propulsion.getPropulsionShaftVehicleSpeed();
     m_speed = (float) speedKph / 3.6f;
   }

diff --git a/code/system/application/knowledge/src/ivrule/ivrule.cpp b/code/system/application/knowledge/src/ivrule/ivrule.cpp
@@ -109,8 +109,8 @@ void Ivrule::nextContainer(odcore::data::Container &a_container)
   if(a_container.getDataType() == opendlv::perception::Environment::ID()) {
     opendlv::perception::Environment message = a_container.getData<opendlv::perception::Environment>();
     ReadEnvironment(message);
-  } else  if (a_container.getDataType() == opendlv::proxy::reverefh16::Propulsion::ID()) {
-    auto propulsion = a_container.getData<opendlv::proxy::reverefh16::Propulsion>();
+  } else  if (a_container.getDataType() == opendlv::proxy::reverefh16::VehicleSpeed::ID()) {
+    auto propulsion = a_container.getData<opendlv::proxy::reverefh16::VehicleSpeed>();
     double speedKph = propulsion.getPropulsionShaftVehicleSpeed();
     m_speed = static_cast<float>(speedKph / 3.6);
   }

diff --git a/code/system/application/sensation/include/geolocation/geolocation.hpp b/code/system/application/sensation/include/geolocation/geolocation.hpp
@@ -82,7 +82,7 @@ class Geolocation
   opendlv::proxy::MagnetometerReading m_magnetometerReading; 
   opendlv::proxy::AccelerometerReading m_accelerometerReading;
   opendlv::proxy::reverefh16::Steering m_steeringReading;
-  opendlv::proxy::reverefh16::Propulsion m_propulsionReading;
+  opendlv::proxy::reverefh16::VehicleSpeed m_propulsionReading;
 
   bool m_debug;
 

diff --git a/code/system/application/sensation/src/geolocation/geolocation.cpp b/code/system/application/sensation/src/geolocation/geolocation.cpp
@@ -95,8 +95,8 @@ void Geolocation::nextContainer(odcore::data::Container &a_c)
     m_accelerometerReading = a_c.getData<opendlv::proxy::AccelerometerReading>();
   } else if(a_c.getDataType() == opendlv::proxy::reverefh16::Steering::ID()) {
     m_steeringReading = a_c.getData<opendlv::proxy::reverefh16::Steering>();
-  } else if(a_c.getDataType() == opendlv::proxy::reverefh16::Propulsion::ID()) {
-    m_propulsionReading = a_c.getData<opendlv::proxy::reverefh16::Propulsion>();
+  } else if(a_c.getDataType() == opendlv::proxy::reverefh16::VehicleSpeed::ID()) {
+    m_propulsionReading = a_c.getData<opendlv::proxy::reverefh16::VehicleSpeed>();
   }
 } 
 
@@ -245,17 +245,17 @@ odcore::data::dmcp::ModuleExitCodeMessage::ModuleExitCode Geolocation::body()
       odcore::data::TimeStamp durationAfterGpsReading = timeAfterGpsReading - now;
 
       auto propulsionContainer = getKeyValueDataStore().get(
-          opendlv::proxy::reverefh16::Propulsion::ID());
+          opendlv::proxy::reverefh16::VehicleSpeed::ID());
       auto propulsion = propulsionContainer.getData<
-          opendlv::proxy::reverefh16::Propulsion>();
+          opendlv::proxy::reverefh16::VehicleSpeed>();
 
       if (propulsionContainer.getReceivedTimeStamp().getSeconds() > 0) {
-        control.v() = propulsion.getPropulsionShaftVehicleSpeed()/3.6;
+        control.v() = propulsion.getVehicleSpeedShaftVehicleSpeed()/3.6;
         // TODO: to m/s --- get the message in si unit
       }
 
 
-      if (propulsion.getPropulsionShaftVehicleSpeed() < 0.1) {
+      if (propulsion.getVehicleSpeedShaftVehicleSpeed() < 0.1) {
           control.v() = 0.0;
       // if we don't get any data from the CAN,
       // we try to fill the speed from GPS data

diff --git a/docker/Makefile b/docker/Makefile
@@ -18,7 +18,7 @@
 ###############################################################################
 # Parameters for this Makefile.
 BASE_IMAGE=seresearch/opendlv-core-on-opendavinci-ubuntu-16.04-complete
-BASE_IMAGE_VERSION=v0.7.1
+BASE_IMAGE_VERSION=v0.8.0
 
 ###############################################################################
 # Tools.