merged conflict

Author: Ezra Boley

middleware/src/HVTCPSocket.cpp

@@ -15,7 +15,6 @@ extern "C"
 #include "data.h"
 #include "state_machine.h"
 #include "hv_iox.h"
-#include <braking.h>
 }
 
 
@@ -161,24 +160,10 @@ void *TCPLoop(void *arg)
 			setMCUHVEnabled(false);
 		}
 
-		if (!strncmp(buffer, "override", 8))
-		{
-			fprintf(stderr, "Override received for state: %s\n", buffer + 9);
-			sprintf(stateMachine.overrideStateName, "%s\0", buffer + 9);
-		}
-
-		if(!strncmp(buffer, "safetyOn", MAX_COMMAND_SIZE)){
-			//TODO Motor Safety on
-		}
-
-		if(!strncmp(buffer, "safetyOff", MAX_COMMAND_SIZE)){
-			//TODO Motor Safety off
-		}
-
 		if(!strncmp(buffer,"override", 8)){
 			fprintf(stderr, "Override received for state: %s\n", buffer+9);
 		  sprintf(stateMachine.overrideStateName, "%s\0", buffer+9);
-    }
+        }
 
 		// HEARTBEAT
 		if (!strncmp(buffer, "ping", MAX_COMMAND_SIZE))

middleware/src/LVTCPSocket.cpp

@@ -11,6 +11,10 @@
 #include "data.h"
 #include "connStat.h"
 
+extern  "C" {
+	#include <braking.h>
+}
+
 pthread_t LVTCPThread;
 
 
@@ -90,6 +94,23 @@ void *LVTCPLoop(void *arg){
             data->flags->shouldBrake = true;
         }
 
+						if (!strncmp(buffer, "primBrakeOff", MAX_COMMAND_SIZE))
+		{
+			brakePrimaryRelease();
+		}
+		if (!strncmp(buffer, "primBrakeOn", MAX_COMMAND_SIZE))
+		{
+			brakePrimary();
+		}
+		if (!strncmp(buffer, "secBrakeOff", MAX_COMMAND_SIZE))
+		{
+			brakeSecondaryRelease();
+		}
+		if (!strncmp(buffer, "secBrakeOn", MAX_COMMAND_SIZE))
+		{
+			brakeSecondary();
+		}
+
 		// HEARTBEAT
 		if(!strncmp(buffer, "ping", MAX_COMMAND_SIZE)){
 			// Send acknowledge packet back