update preventEndPosition

eulynx-live · Dec 15, 2023 · b31fe7a · b31fe7a
1 parent 3c1fe0a
commit b31fe7a
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Showing 2 changed files with 22 additions and 2 deletions.
diff --git a/src/Point/Point.cs b/src/Point/Point.cs
@@ -1,4 +1,4 @@
-using EulynxLive.FieldElementSubsystems.Configuration;
+using EulynxLive.FieldElementSubsystems.Configuration;
 using EulynxLive.FieldElementSubsystems.Interfaces;
 using EulynxLive.Point.Proto;
 using Grpc.Core;
@@ -125,7 +125,12 @@ public void SetAbilityToMove(AbilityToMoveMessage abilityToMoveMessage){
         /// <returns></returns>
         public async Task PreventEndPosition(SimulatedPositionMessage simulatedPositionMessage)
         {
-            _logger.LogInformation("Preventing end position {} with degraded point position {}.", simulatedPositionMessage.Position, simulatedPositionMessage.DegradedPosition);
+            if ((simulatedPositionMessage.Position == PreventedPosition.PreventedLeft && simulatedPositionMessage.DegradedPosition == PointDegradedPosition.DegradedRight) ||
+                (simulatedPositionMessage.Position == PreventedPosition.PreventedRight && simulatedPositionMessage.DegradedPosition == PointDegradedPosition.DegradedLeft))
+            {
+                _logger.LogWarning("Prevented position {} and degraded position {} are not compatible.", simulatedPositionMessage.Position, simulatedPositionMessage.DegradedPosition);
+                return;
+            }
 
             // Action a Trailed command immediately, otherwise store the prevented position for the next command.
             if (simulatedPositionMessage.Position == PreventedPosition.PreventTrailed)
@@ -136,6 +141,7 @@ public async Task PreventEndPosition(SimulatedPositionMessage simulatedPositionM
             {
                 _simulatedPointState.PreventedPosition = simulatedPositionMessage.Position;
                 _simulatedPointState.DegradedPointPosition = simulatedPositionMessage.DegradedPosition.ConvertToDegradedPointPosition();
+                _logger.LogInformation("Preventing end position {} with degraded point position {}.", _simulatedPointState.PreventedPosition, _simulatedPointState.DegradedPointPosition);
             }
         }
 

diff --git a/src/Point/README.md b/src/Point/README.md
@@ -7,3 +7,17 @@ EULYNX Point Simulator
 - https://nodejs.org/en/
 
 Then, execute `dotnet run` in this directory and open http://localhost:5000 in the browser.
+
+
+## gRPC API
+
+`PreventEndPosition(SimulatedPositionMessage)` can be used to put the point in a degraded or no end position at all.
+The following are the allowed parameter values and resulting point states:
+
+|SimulatedPositionMessage.position|SimulatedPositionMessage.degradedPosition|pointPosition|degradedPointPosition|
+|--|--|--|--|
+|UnintendedPosition| * | NoEndPosition | NotDegraded
+|PreventedLeft|DegradedLeft| NoEndPosition | DegradedLeft
+|PreventedRight|DegradedRight| NoEndPosition | DegradedRight
+|PreventedLeft|NotDegraded| NoEndPosition | NotDegraded
+|PreventedRight|NotDegraded| NoEndPosition | NotDegraded