Fixed WheelSpeedsFrame/WheelRpmsFrame naming issue

CMakeLists.txt

@@ -34,7 +34,7 @@ SET( LIBRARY_OUTPUT_PATH lib )
 # autogenerate code from the DBC file
 file( MAKE_DIRECTORY src_autogen )    
 add_custom_command( OUTPUT src_autogen/candata.h src_autogen/candata.c
-        COMMAND python3 -m cantools generate_c_source docs/candata.dbc -o src_autogen
+        COMMAND python3 -m cantools generate_c_source ${CMAKE_CURRENT_SOURCE_DIR}/docs/candata.dbc -o src_autogen
         MAIN_DEPENDENCY docs/candata.dbc
         COMMENT "Autogenerate code from DBC file" )
 
@@ -71,18 +71,18 @@ target_include_directories( wheel_counts_frame PUBLIC include )
 target_link_libraries( wheel_counts_frame PRIVATE candata )
 target_link_libraries( wheel_counts_frame PUBLIC process_frame )
 
-add_library( wheel_rpms_frame SHARED src/status/wheel_rpms_frame.cpp )
-target_include_directories( wheel_rpms_frame PUBLIC include )
-target_link_libraries( wheel_rpms_frame PRIVATE candata )
-target_link_libraries( wheel_rpms_frame PUBLIC process_frame )
+add_library( wheel_speeds_frame SHARED src/status/wheel_speeds_frame.cpp )
+target_include_directories( wheel_speeds_frame PUBLIC include )
+target_link_libraries( wheel_speeds_frame PRIVATE candata )
+target_link_libraries( wheel_speeds_frame PUBLIC process_frame )
 
 add_library( status_frames SHARED src/status_frames.cpp )
 target_include_directories( status_frames PUBLIC include )
 target_link_libraries( status_frames PUBLIC axle_torque_frame 
                                         status_frame 
                                         steering_frame 
                                         wheel_counts_frame 
-                                        wheel_rpms_frame )
+                                        wheel_speeds_frame )
 
 # output frames
 add_library( control_frame SHARED src/control/control_frame.cpp )

include/control/axle_control_frame.h

@@ -17,9 +17,9 @@ public:
     bool is_front() const;
 
     AxleControlFrame( const AxleTorqueFrame &torqueFrame, 
-                        const WheelRpmsFrame &rpmsFrame, 
+                        const WheelSpeedsFrame &speedsFrame, 
                         const bool front=true );
-    ~AxleControlFrame();
+    virtual ~AxleControlFrame() = default;
 
     void set_speed( const float speed );
 
@@ -41,7 +41,7 @@ private:
     virtual void _print( std::ostream& os ) const override;
 
     const AxleTorqueFrame& _torqueFrame;
-    const WheelRpmsFrame& _rpmsFrame;
+    const WheelSpeedsFrame& _speedsFrame;
 
     const bool _front;
     float _speed = 0.f;
@@ -80,8 +80,8 @@ can_frame AxleControlFrame::_process() const
         torque = this->_torqueFrame.get_max();
     }
 
-    if( this->_rpmsFrame.is_recent() )
-        torque = torque_rpm_limit( torque, this->_rpmsFrame.fastest() );
+    if( this->_speedsFrame.is_recent() )
+        torque = torque_rpm_limit( torque, this->_speedsFrame.fastest() );
 
     can_frame frame;
     frame.can_id = this->frameId;
@@ -120,18 +120,13 @@ void AxleControlFrame::_print( std::ostream& os ) const
 }
 
 AxleControlFrame::AxleControlFrame( const AxleTorqueFrame &torqueFrame,
-                                    const WheelRpmsFrame &rpmsFrame,
+                                    const WheelSpeedsFrame &speedsFrame,
                                     const bool front ) : 
     ControlFrame( front ? CANDATA_AI2_VCU_DRIVE_F_FRAME_ID : CANDATA_AI2_VCU_DRIVE_R_FRAME_ID ),
     _torqueFrame( torqueFrame ),
-    _rpmsFrame( rpmsFrame ),
+    _speedsFrame( speedsFrame ),
     _front( front )
 {
 }
 
-AxleControlFrame::~AxleControlFrame()
-{
-}
-
-
 #endif // AXLE_CONTROL_FRAME_H

include/status/wheel_speeds_frame.h

@@ -11,16 +11,17 @@
 class WheelSpeedsFrame : public ProcessFrame
 {
 public:
-    using counts_t = int;
+    using rpm_t = int;
 
-    const counts_t count( size_t index ) const;
-    const counts_t front_left() const;
-    const counts_t front_right() const;
-    const counts_t rear_left() const;
-    const counts_t rear_right() const;
+    const rpm_t rpm( size_t index ) const;
+    const rpm_t front_left() const;
+    const rpm_t front_right() const;
+    const rpm_t rear_left() const;
+    const rpm_t rear_right() const;
+    const rpm_t fastest() const;
 
     WheelSpeedsFrame();
-    ~WheelSpeedsFrame();
+    virtual ~WheelSpeedsFrame() = default;
 
 private:
     virtual void _process( const can_frame& frame ) override;

include/status_frames.h

@@ -3,5 +3,4 @@
 #include "status/status_frame.h"
 #include "status/steering_frame.h"
 #include "status/wheel_counts_frame.h"
-#include "status/wheel_rpms_frame.h"
 #include "status/wheel_speeds_frame.h"

src/demo.cpp

@@ -14,7 +14,7 @@ using can::operator<<;
 
 #include <status_frames.h>
 
-ftxui::Component Wrap( std::string name, Component component ) 
+ftxui::Component Wrap( const std::string& name, Component component ) 
 {
   return Renderer(component, [name, component] {
     return hbox({
@@ -42,9 +42,9 @@ public:
     StatusFrame status;
     SteeringFrame steering;
     WheelCountsFrame wheelCounts;
-    WheelRpmsFrame wheelRpms;
+    WheelSpeedsFrame wheelSpeeds;
 
-    std::array< ProcessFrame* const, 6 > frames { &frontAxle, &rearAxle, &status, &steering, &wheelCounts, &wheelRpms };
+    std::array< ProcessFrame* const, 6 > frames { &frontAxle, &rearAxle, &status, &steering, &wheelCounts, &wheelSpeeds };
 
     int canSocket;
 
@@ -165,7 +165,7 @@ public:
                         } ) | border;
                 };
 
-                auto axle = [&]( int current, int max, int requested )
+                auto axle = [&]( float current, float max, float requested )
                 {
                     return vbox(
                         {
@@ -189,10 +189,10 @@ public:
                     {
                         {
                             wheel( interface.wheelCounts.front_left(), 
-                                   interface.wheelRpms.front_left() ),
+                                   interface.wheelSpeeds.front_left() ),
                             vcenter( hcenter( text("Front") ) ),
                             wheel( interface.wheelCounts.front_right(), 
-                                   interface.wheelRpms.front_right() ),
+                                   interface.wheelSpeeds.front_right() ),
                         },
                         {
                             text(""),
@@ -214,13 +214,13 @@ public:
                                   interface.rearAxle.get_max(),
                                   interface.rearAxle.get_requested() ),
                             text(""),
-                        },                         
+                        }, 
                         {
                             wheel( interface.wheelCounts.rear_left(), 
-                                   interface.wheelRpms.rear_left() ),
+                                   interface.wheelSpeeds.rear_left() ),
                             vcenter( hcenter( text("Rear") ) ),
                             wheel( interface.wheelCounts.rear_right(), 
-                                   interface.wheelRpms.rear_right() ),
+                                   interface.wheelSpeeds.rear_right() ),
                         }, 
                     } );
             } );

src/example_control.cpp

@@ -22,14 +22,14 @@ int main( int argc, char* argv[] )
     StatusFrame status;
     SteeringFrame steering;
     WheelCountsFrame wheelCounts;
-    WheelRpmsFrame wheelRpms;
+    WheelSpeedsFrame wheelSpeeds;
 
-    AxleControlFrame frontControl( frontAxle, wheelRpms );
-    AxleControlFrame rearControl( rearAxle, wheelRpms, false );
+    AxleControlFrame frontControl( frontAxle, wheelSpeeds );
+    AxleControlFrame rearControl( rearAxle, wheelSpeeds, false );
     StatusControlFrame statusControl( status );
     SteeringControlFrame steeringControl( steering );
 
-    std::array< ProcessFrame* const, 6 > frames { &frontAxle, &rearAxle, &status, &steering, &wheelCounts, &wheelRpms };
+    std::array< ProcessFrame* const, 6 > frames { &frontAxle, &rearAxle, &status, &steering, &wheelCounts, &wheelSpeeds };
     std::array< ControlFrame* const, 4 > controls { &frontControl, &rearControl, &statusControl, &steeringControl };
 
     try

src/example_frame_reader.cpp

@@ -21,9 +21,9 @@ int main( int argc, char* argv[] )
     StatusFrame status;
     SteeringFrame steering;
     WheelCountsFrame wheelCounts;
-    WheelRpmsFrame wheelRpms;
+    WheelSpeedsFrame wheelSpeeds;
 
-    std::array< ProcessFrame* const, 6 > frames { &frontAxle, &rearAxle, &status, &steering, &wheelCounts, &wheelRpms };
+    std::array< ProcessFrame* const, 6 > frames { &frontAxle, &rearAxle, &status, &steering, &wheelCounts, &wheelSpeeds };
 
     try
     {

src/status/wheel_speeds_frame.cpp

@@ -1,7 +1,7 @@
-#include "wheel_speeds_frame.h"
+#include "status/wheel_speeds_frame.h"
 
 
-const WheelSpeedsFrame::counts_t WheelSpeedsFrame::count( size_t index ) const
+const WheelSpeedsFrame::rpm_t WheelSpeedsFrame::rpm( size_t index ) const
 {
     switch( index )
     {
@@ -18,26 +18,32 @@ const WheelSpeedsFrame::counts_t WheelSpeedsFrame::count( size_t index ) const
     return 0;
 }
 
-const WheelSpeedsFrame::counts_t WheelSpeedsFrame::front_left() const
+const WheelSpeedsFrame::rpm_t WheelSpeedsFrame::front_left() const
 {
     return candata_vcu2_ai_speeds_fl_wheel_speed_decode( data.fl_wheel_speed );
 }
 
-const WheelSpeedsFrame::counts_t WheelSpeedsFrame::front_right() const
+const WheelSpeedsFrame::rpm_t WheelSpeedsFrame::front_right() const
 {
     return candata_vcu2_ai_speeds_fr_wheel_speed_decode( data.fr_wheel_speed );
 }
 
-const WheelSpeedsFrame::counts_t WheelSpeedsFrame::rear_left() const
+const WheelSpeedsFrame::rpm_t WheelSpeedsFrame::rear_left() const
 {
     return candata_vcu2_ai_speeds_rl_wheel_speed_decode( data.rl_wheel_speed );
 }
 
-const WheelSpeedsFrame::counts_t WheelSpeedsFrame::rear_right() const
+const WheelSpeedsFrame::rpm_t WheelSpeedsFrame::rear_right() const
 {
     return candata_vcu2_ai_speeds_rr_wheel_speed_decode( data.rr_wheel_speed );
 }
 
+const WheelSpeedsFrame::rpm_t WheelSpeedsFrame::fastest() const
+{
+    return std::max( std::max( front_left(), front_right() ), 
+                     std::max( rear_left(), rear_right() ) );
+}
+
 void WheelSpeedsFrame::_process( const can_frame& frame )
 {
     if( candata_vcu2_ai_speeds_unpack( &data, frame.data, frame.can_dlc ) )
@@ -48,16 +54,12 @@ void WheelSpeedsFrame::_process( const can_frame& frame )
 
 void WheelSpeedsFrame::_print( std::ostream& os ) const
 {
-    os << "Wheel counts: " << count(0);
+    os << "Wheel counts: " << rpm(0);
     for( size_t i=1; i<4; ++i )
-        os << ", " << count(i);
+        os << ", " << rpm(i);
 }
 
 WheelSpeedsFrame::WheelSpeedsFrame() : 
     ProcessFrame( CANDATA_VCU2_AI_SPEEDS_FRAME_ID )
 {
 }
-
-WheelSpeedsFrame::~WheelSpeedsFrame()
-{
-}