check if steering ready for driving

306-controller_interface.X/app/drive.c

@@ -8,6 +8,8 @@
 #include "drive.h"
 #include "car.h"
 #include "can_message.h"
+#include "steering.h"
+#include "factory/factory.h"
 
 void DRIVE_init(DRIVE* me){
     me->state = STDR_INIT;
@@ -22,7 +24,7 @@ void DRIVE_init(DRIVE* me){
 }
 
 void DRIVE_startBehaviour(DRIVE* me){
-    POST(me, &DRIVE_processEvent, evDRinit, 0, 0);
+    POST(me, &DRIVE_processEvent, evDRinit, 100, 0);
 }
 
 bool DRIVE_processEvent(Event* ev) {
@@ -31,6 +33,8 @@ bool DRIVE_processEvent(Event* ev) {
     DRIVE_STATES oldState = me->state;
     evIDT evid = Event_getId(ev);
     uint64_t data = Event_getData(ev);
+    STEERING_STATES steeringState = steering()->state;
+
     
     switch (me->state) {        // onState
         case STDR_INIT:
@@ -55,7 +59,9 @@ bool DRIVE_processEvent(Event* ev) {
             }
             
             if (ev->id == evDRpollTorque) {
-                CM_DRIVE_POWER(&eKart.torque);
+                if(steeringState == STST_RUN) {
+                    CM_DRIVE_POWER(&eKart.torque);
+                }
             }
             
             if (ev->id == evDRpollSpeed) {

306-controller_interface.X/app/drive.h

@@ -11,7 +11,7 @@
 #include "../middleware/alive.h"
 
 typedef enum {
-    STDR_INIT,
+    STDR_INIT = 100,
     STDR_WAIT,
     STDR_RUN,
     STDR_DEAD