main.cpp

#include <iostream>
#include "classes.h"
#include <chrono>
#include <thread>
using namespace std;

using Clock = chrono::high_resolution_clock;
using Duration = chrono::duration<int, milli>;



int main() {
    /*
    cout << "Program started\n";
    unique_ptr<VehicleController> System(new VehicleController());
    unique_ptr<PIDController> PID(new PIDController(2.0, 0.1, 1.5, 0.01 ));

    const int period_ms = 10; // the period of the occuration
    const Duration period = Duration(period_ms);
    
    chrono::time_point<Clock> nextTime = Clock::now();
    while(true) {
    //Delay by 10ms
        this_thread::sleep_until(nextTime);
    //Works, updates
    double outputPID = PID->compute(20,19);
    System->update();

        cout << outputPID << endl << "Program is working\n";
    // Updating nextTime to be suitable and periodly
    nextTime += period;
    }
    
   /*
   CanFrame frame;
   CanManeger M;
   float throttle = 60.2;
   float brake = -45;
   float steering = -35;
   M.packingCommandControl(throttle,brake,steering,frame);
    cout << "ID: 0x" << hex << frame.id << endl;
    cout << "Data: " <<dec<< int(frame.data[0]) << endl;
    cout << "Data: " <<dec<< int(frame.data[1]) << endl;
    cout << "Data: " <<dec<< int(frame.data[2]) << endl;
    //Testing the rolling attack and checksum
    for(int i =0; i < 20;i++) {
        throttle += 1.0f;
        M.packingCommandControl(throttle,brake,steering,frame);
        cout << "Msg " << i+1 
             << " | Counter (Byte 6): " << (int)frame.data[6] 
             << " | Checksum (Byte 7): 0x" << hex << (int)frame.data[7] << dec 
             << " | Data[0]: " << (int)frame.data[0] // Print first data byte to verify inputs
             << endl;

    }
    */
    return 0;
}