cleaned up subsection 3

Author: clane

GEMstack/knowledge/defaults/computation_graph.yaml

@@ -49,6 +49,9 @@ components:
   - motion_planning:
       inputs: all
       outputs: trajectory
-  - signaline:
+  - trajectory_tracking:
+      inputs: [vehicle, trajectory]
+      outputs: 
+  - signaling:
         inputs: intent
-        outputs: []
+        outputs: 

GEMstack/onboard/planning/blink_component.py

@@ -33,13 +33,13 @@ def cleanup(self):
         self.send_turn_command(TURN_OFF)
         # pass
 
-    def update(self, intent):
+    def update(self, state: AllState):
         """Run in a loop"""
         # we need to set up a GEMVehicleCommand which encapsulates all commands that will be
         # sent to the drive-by-wire system, simultaneously.  To avoid doing arbitrary things
         # to the vehicle, let's maintain the current values (e.g., accelerator, brake pedal,
-        # steering angle) from its current readings.
-        if intent.intent == VehicleIntentEnum.HALTING:
+        # steering angle) from its current readings. 
+        if state.intent.intent == VehicleIntentEnum.HALTING:
             current_time = time.time()
             if current_time - self.last_update_time >= 2:  # Change signal every 2 seconds
                 if self.turn_state == TURN_OFF: