From cecb42785792d8087cf4acb0841b0d71aa7e15f3 Mon Sep 17 00:00:00 2001
From: Akram <Akram.Bzeouich@Newtec.de>
Date: Thu, 22 Aug 2024 11:44:16 +0200
Subject: [PATCH] Reset sendLineSensorsData function to its original state to
 fix issues with sensor data transmission.

---
 lib/APPReinforcementLearning/src/App.cpp | 40 ++++++++++++++----------
 lib/APPReinforcementLearning/src/App.h   |  7 ++++-
 2 files changed, 29 insertions(+), 18 deletions(-)

diff --git a/lib/APPReinforcementLearning/src/App.cpp b/lib/APPReinforcementLearning/src/App.cpp
index 623ff63..d3e212a 100644
--- a/lib/APPReinforcementLearning/src/App.cpp
+++ b/lib/APPReinforcementLearning/src/App.cpp
@@ -133,23 +133,7 @@ void App::loop()
     if (true == m_sendLineSensorsDataInterval.isTimeout() &&
         (&DrivingState::getInstance() == m_systemStateMachine.getState()))
     {
-        ILineSensors&   lineSensors      = Board::getInstance().getLineSensors();
-        uint8_t         maxLineSensors   = lineSensors.getNumLineSensors();
-        const uint16_t* lineSensorValues = lineSensors.getSensorValues();
-        uint8_t         lineSensorIdx    = 0U;
-        LineSensorData  payload;
-
-        if (LINE_SENSOR_CHANNEL_DLC == (maxLineSensors * sizeof(uint16_t)))
-        {
-            while (maxLineSensors > lineSensorIdx)
-            {
-                payload.lineSensorData[lineSensorIdx] = lineSensorValues[lineSensorIdx];
-
-                ++lineSensorIdx;
-            }
-        }
-
-        m_data_sent = m_smpServer.sendData(m_serialMuxProtChannelIdLineSensors, &payload, sizeof(payload));
+        sendLineSensorsData();
 
         m_sendLineSensorsDataInterval.restart();
     }
@@ -217,6 +201,28 @@ void App::handleRemoteCommand(const Command& cmd)
  * Private Methods
  *****************************************************************************/
 
+void App::sendLineSensorsData() 
+{
+    ILineSensors&   lineSensors      = Board::getInstance().getLineSensors();
+    uint8_t         maxLineSensors   = lineSensors.getNumLineSensors();
+    const uint16_t* lineSensorValues = lineSensors.getSensorValues();
+    uint8_t         lineSensorIdx    = 0U;
+    LineSensorData  payload;
+
+    if (LINE_SENSOR_CHANNEL_DLC == (maxLineSensors * sizeof(uint16_t)))
+    {
+        while (maxLineSensors > lineSensorIdx)
+        {
+            payload.lineSensorData[lineSensorIdx] = lineSensorValues[lineSensorIdx];
+
+            ++lineSensorIdx;
+        }
+    }
+
+    /* Ignoring return value, as error handling is not available. */
+    m_data_sent = m_smpServer.sendData(m_serialMuxProtChannelIdLineSensors, &payload, sizeof(payload));
+}
+
 bool App::setupSerialMuxProt()
 {
     bool isSuccessful = false;
diff --git a/lib/APPReinforcementLearning/src/App.h b/lib/APPReinforcementLearning/src/App.h
index 4d73fc4..2683c30 100644
--- a/lib/APPReinforcementLearning/src/App.h
+++ b/lib/APPReinforcementLearning/src/App.h
@@ -150,7 +150,12 @@ class App
      *
      * @return If successful returns true, otherwise false.
      */
-    bool setupSerialMuxProt();
+    bool setupSerialMuxProt()
+
+    /**
+     * Send line sensors data via SerialMuxProt.
+     */
+    void sendLineSensorsData() ;
 
     /**
      * Copy construction of an instance.