Add eBrake Function

Author: EUdds

embedded/app/include/state_machine.h

@@ -37,6 +37,7 @@ typedef struct stateMachine_t stateMachine_t;
 
 state_t *getCurrState(void);
 
+state_t *setCurrState(state_t *state);
 state_t *findState(char *name);
 /*
 * The state machine is a directed graph. Each edge is a transition

embedded/app/src/state_machine.c

@@ -250,6 +250,10 @@ state_t *getCurrState(void) {
     return stateMachine.currState;
 }
 
+state_t *setCurrState(state_t *state) {
+    stateMachine.currState = state;
+}
+
 /***
  * runStateMachine -
  *		Executes the current states action. A mini control loop

middleware/src/HVTCPSocket.cpp

@@ -15,6 +15,7 @@ extern "C"
 #include "data.h"
 #include "state_machine.h"
 #include "hv_iox.h"
+#include "braking.h"
 }
 
 
@@ -129,7 +130,9 @@ void *TCPLoop(void *arg)
 
 		if (!strncmp(buffer, "emergencyBrake", MAX_COMMAND_SIZE))
 		{
-			data->flags->emergencyBrake = 1;
+			brake();
+			setCurrSate(getCurrState() -> fault);
+			
 		}
 
 		if (!strncmp(buffer, "hvEnable", MAX_COMMAND_SIZE))