testing

Author: tdwivedi786

lib/Command_Interpreter.cpp

@@ -185,9 +185,10 @@ void Command_Interpreter_RPi5::blind_execute(const CommandComponent& commandComp
     auto endTime = std::chrono::system_clock::now() + commandComponent.duration;
     auto currentTime = std::chrono::system_clock::now();
     execute(commandComponent.thruster_pwms, logfile);
-    while (currentTime < endTime) {
+    while (currentTime < endTime && !isInterruptBlind_Execute) {
         currentTime = std::chrono::system_clock::now();
     }
+    isInterruptBlind_Execute = false;
 }
 
 //void Command_Interpreter_RPi5::corrective_execute(command_component command, std::ofstream logfile) {

lib/Command_Interpreter.h

@@ -108,6 +108,7 @@ class Command_Interpreter_RPi5 {
     std::vector<PwmPin*> thrusterPins;
     std::vector<DigitalPin*> digitalPins;
     WiringControl wiringControl;
+    bool isInterruptBlind_Execute;
 
 public:
     explicit Command_Interpreter_RPi5(std::vector<PwmPin*> thrusterPins, std::vector<DigitalPin*> digitalPins);
@@ -132,6 +133,9 @@ class Command_Interpreter_RPi5 {
     /// varies depending on the type.
     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?
 };