Update to add override flag

Author: WilliamBarber

src/Command_Interpreter.cpp

@@ -127,8 +127,7 @@ Command_Interpreter_RPi5::Command_Interpreter_RPi5(std::vector<PwmPin *> thruste
                                                    const WiringControl &wiringControl, std::ostream &output,
                                                    std::ostream &outLog, std::ostream &errorLog) :
         thrusterPins(std::move(thrusterPins)), digitalPins(std::move(digitalPins)), wiringControl(wiringControl),
-        errorLog(errorLog),
-        outLog(outLog), output(output) {
+        errorLog(errorLog), outLog(outLog), output(output), isInterruptBlind_Execute(false) {
     if (this->thrusterPins.size() != 8) {
         errorLog << "Incorrect number of thruster pwm pins given! Need 8, given " << this->thrusterPins.size()
                  << std::endl;
@@ -168,13 +167,14 @@ Command_Interpreter_RPi5::~Command_Interpreter_RPi5() {
 }
 
 void Command_Interpreter_RPi5::timed_execute(const CommandComponent &commandComponent) {
+    isInterruptBlind_Execute = false;
     auto endTime = std::chrono::system_clock::now() + commandComponent.duration;
     auto currentTime = std::chrono::system_clock::now();
     untimed_execute(commandComponent.thruster_pwms);
-    while (currentTime < endTime) {
-
+    while (currentTime < endTime && !isInterruptBlind_Execute) {
         currentTime = std::chrono::system_clock::now();
     }
+    isInterruptBlind_Execute = false;
 }
 
 void Command_Interpreter_RPi5::untimed_execute(pwm_array thrusterPwms) {

src/Command_Interpreter.hpp

@@ -167,6 +167,8 @@ class Command_Interpreter_RPi5 {
     std::ostream &outLog;
     std::ostream &errorLog;
 
+    bool isInterruptBlind_Execute;
+
 public:
     /// @param thrusterPins the PWM pins that will drive robot thrusters
     /// @param digitalPins non-PWM pins to be used for digital (2-state) output
@@ -194,6 +196,9 @@ class Command_Interpreter_RPi5 {
     /// @return A vector containing the current value of all pins. PWM pins will return a value in the range [1100, 1900]
     std::vector<int> readPins();
 
+    /// @brief Set an interrupt for the blind_execute function while running. Calling this function sets the interrupt to occur.
+    void  interruptBlind_Execute() {isInterruptBlind_Execute = true;}
+
     ~Command_Interpreter_RPi5(); //TODO this also deletes all its pins. Not sure if this is desirable or not?
 };