Merge branch 'master' of https://github.com/Cyclone-Robosub/Command_Interpreter

Author: CRS-AGGIES

CMakeLists.txt

@@ -42,6 +42,21 @@ add_executable(propulsion_test
 # Always link GTest
 target_link_libraries(propulsion_test GTest::gtest_main)
 
+# Define mock or real behavior
+if(MOCK_RPI)
+    message(STATUS "Building with MOCK_RPI=ON: Using mock WiringPi (no external linkage).")
+    target_compile_definitions(propulsion_test PRIVATE MOCK_RPI)
+else()
+    message(STATUS "Building with MOCK_RPI=OFF: Linking to real WiringPi.")
+    target_link_libraries(propulsion_test wiringPi)
+endif()
+add_library(PropulsionFunctions
+        lib/Command.h
+        lib/Command_Interpreter.cpp
+        lib/Command_Interpreter.h
+        lib/Wiring.cpp
+        lib/Wiring.h
+)
 include(GoogleTest)
 
 gtest_discover_tests(propulsion_test)

lib/Command_Interpreter.cpp

@@ -172,8 +172,10 @@ void Command_Interpreter_RPi5::blind_execute(const CommandComponent &commandComp
     auto currentTime = std::chrono::system_clock::now();
     untimed_execute(commandComponent.thruster_pwms);
     while (currentTime < endTime) {
+
         currentTime = std::chrono::system_clock::now();
     }
+    isInterruptBlind_Execute = false;
 }
 
 void Command_Interpreter_RPi5::untimed_execute(pwm_array thrusterPwms) {

lib/Command_Interpreter.h

@@ -194,6 +194,9 @@ 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?
 };