Moved braking from HV to LV

Author: EUdds

middleware/src/HVTCPSocket.cpp

@@ -15,7 +15,6 @@ extern "C"
 #include "data.h"
 #include "state_machine.h"
 #include "hv_iox.h"
-#include <braking.h>
 }
 
 
@@ -133,23 +132,6 @@ void *TCPLoop(void *arg)
 			data->flags->emergencyBrake = 1;
 		}
 
-		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();
-		}
-
 		if (!strncmp(buffer, "hvEnable", MAX_COMMAND_SIZE))
 		{
 			setMCUHVEnabled(true);

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