updated package structure and more fixes

scout_base/CMakeLists.txt

@@ -4,9 +4,10 @@ project(scout_base)
 ## Compile as C++11, supported in ROS Kinetic and newer
 add_compile_options(-std=c++11)
 
+# cmake module path
+list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
+
 find_package(catkin REQUIRED COMPONENTS    
-    controller_manager 
-    hardware_interface 
     roslaunch 
     roslint 
     roscpp 
@@ -14,7 +15,12 @@ find_package(catkin REQUIRED COMPONENTS
     std_msgs
     geometry_msgs
     scout_msgs
-    tf)
+    scout_sdk
+    tf2 
+    tf2_ros
+)
+    
+find_package(LCM REQUIRED)
 
 # find_package(Boost REQUIRED COMPONENTS chrono)
 
@@ -24,8 +30,8 @@ find_package(catkin REQUIRED COMPONENTS
 
 catkin_package(
   INCLUDE_DIRS include
-  LIBRARIES scout_base
+  LIBRARIES scout_messenger
-  CATKIN_DEPENDS hardware_interface scout_msgs roscpp sensor_msgs
+  CATKIN_DEPENDS scout_msgs roscpp sensor_msgs scout_sdk
 #   DEPENDS Boost
 )
 
@@ -38,31 +44,35 @@ catkin_package(
 include_directories(
     include
     ${catkin_INCLUDE_DIRS}
+    ${LCM_INCLUDE_DIRS}
 )
 
-# add scout sdk
-add_subdirectory(src/scout_sdk)
-
 add_library(scout_messenger STATIC src/scout_messenger.cpp)
-target_link_libraries(scout_messenger scoutbase ${catkin_LIBRARIES})
+target_link_libraries(scout_messenger ${catkin_LIBRARIES})
 set_property(TARGET scout_messenger PROPERTY POSITION_INDEPENDENT_CODE ON)
 
 add_executable(scout_base_node src/scout_base_node.cpp)
-target_link_libraries(scout_base_node scoutbase scout_messenger ${catkin_LIBRARIES})
+target_link_libraries(scout_base_node scout_messenger ${catkin_LIBRARIES})
+
+add_executable(imu_broadcast_node src/imu_broadcast_node.cpp)
+target_link_libraries(imu_broadcast_node ${catkin_LIBRARIES} ${LCM_LIBRARIES})
 
 #############
 ## Install ##
 #############
 
-# roslaunch_add_file_check(launch)
+roslaunch_add_file_check(launch)
 
-# install(TARGETS scoutcpp scoutio scout_base
+install(TARGETS scout_messenger scout_base_node
-#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
 
-# install(DIRECTORY include/${PROJECT_NAME}/
+install(DIRECTORY include/${PROJECT_NAME}/
-#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
 
-# install(DIRECTORY launch config
+  install(DIRECTORY include/lcmtypes
-#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+  DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
+
+install(DIRECTORY launch urdf
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})

scout_base/cmake/FindLCM.cmake

@@ -0,0 +1,36 @@
+###############################################################################
+# Find package: lcm
+#
+# This sets the following variables:
+
+# <package>_FOUND
+# <package>_INCLUDE_DIRS
+# <package>_LIBRARIES
+# Source: https://github.com/RobotLocomotion/director/blob/master/cmake/modules/FindLCM.cmake
+
+
+macro(pkg_config_find_module varname pkgname header library pathsuffix)
+
+    find_package(PkgConfig)
+    pkg_check_modules(${varname}_pkgconfig ${pkgname})
+
+    find_path(${varname}_INCLUDE_DIR ${header}
+        HINTS ${${varname}_pkgconfig_INCLUDEDIR}
+        PATH_SUFFIXES ${pathsuffix}
+        DOC "Path to ${pkgname} include directory")
+
+    find_library(${varname}_LIBRARY ${library} HINTS ${${varname}_pkgconfig_LIBDIR} DOC "Path to ${pkgname} library")
+
+    set(${varname}_INCLUDE_DIRS ${${varname}_INCLUDE_DIR})
+    set(${varname}_LIBRARIES ${${varname}_LIBRARY})
+
+    include(FindPackageHandleStandardArgs)
+    find_package_handle_standard_args(${varname} DEFAULT_MSG ${varname}_INCLUDE_DIR ${varname}_LIBRARY)
+
+    mark_as_advanced(${varname}_INCLUDE_DIR)
+    mark_as_advanced(${varname}_LIBRARY)
+
+endmacro()
+
+
+pkg_config_find_module(LCM lcm lcm/lcm.h lcm lcm)

scout_base/include/lcmtypes/wescore.h

@@ -0,0 +1,17 @@
+#ifndef __lcmtypes_wescore_h__
+#define __lcmtypes_wescore_h__
+
+#include "wescore_lcm_msgs_IMU.h"
+#include "wescore_lcm_msgs_NavSatFix.h"
+#include "wescore_lcm_msgs_NavSatStatus.h"
+#include "wescore_lcm_msgs_Quaternion.h"
+#include "wescore_lcm_msgs_RawAccel.h"
+#include "wescore_lcm_msgs_RawGyro.h"
+#include "wescore_lcm_msgs_RawIMU10DOF.h"
+#include "wescore_lcm_msgs_RawIMU6DOF.h"
+#include "wescore_lcm_msgs_RawIMU9DOF.h"
+#include "wescore_lcm_msgs_RawMag.h"
+#include "wescore_lcm_msgs_Vector2.h"
+#include "wescore_lcm_msgs_Vector3.h"
+
+#endif

scout_base/include/lcmtypes/wescore.hpp

@@ -0,0 +1,17 @@
+#ifndef __lcmtypes_wescore_hpp__
+#define __lcmtypes_wescore_hpp__
+
+#include "wescore_lcm_msgs/IMU.hpp"
+#include "wescore_lcm_msgs/NavSatFix.hpp"
+#include "wescore_lcm_msgs/NavSatStatus.hpp"
+#include "wescore_lcm_msgs/Quaternion.hpp"
+#include "wescore_lcm_msgs/RawAccel.hpp"
+#include "wescore_lcm_msgs/RawGyro.hpp"
+#include "wescore_lcm_msgs/RawIMU10DOF.hpp"
+#include "wescore_lcm_msgs/RawIMU6DOF.hpp"
+#include "wescore_lcm_msgs/RawIMU9DOF.hpp"
+#include "wescore_lcm_msgs/RawMag.hpp"
+#include "wescore_lcm_msgs/Vector2.hpp"
+#include "wescore_lcm_msgs/Vector3.hpp"
+
+#endif

scout_base/include/lcmtypes/wescore_lcm_msgs/IMU.hpp

@@ -0,0 +1,215 @@
+/** THIS IS AN AUTOMATICALLY GENERATED FILE.  DO NOT MODIFY
+ * BY HAND!!
+ *
+ * Generated by lcm-gen
+ **/
+
+#ifndef __wescore_lcm_msgs_IMU_hpp__
+#define __wescore_lcm_msgs_IMU_hpp__
+
+#include <lcm/lcm_coretypes.h>
+
+#include "lcmtypes/wescore_lcm_msgs/Quaternion.hpp"
+#include "lcmtypes/wescore_lcm_msgs/Vector3.hpp"
+#include "lcmtypes/wescore_lcm_msgs/Vector3.hpp"
+
+namespace wescore_lcm_msgs
+{
+
+class IMU
+{
+    public:
+        int64_t    mtime;
+
+        wescore_lcm_msgs::Quaternion orientation;
+
+        double     orientation_covariance[9];
+
+        wescore_lcm_msgs::Vector3 angular_velocity;
+
+        double     angular_velocity_covariance[9];
+
+        wescore_lcm_msgs::Vector3 linear_acceleration;
+
+        double     linear_acceleration_covariance[9];
+
+    public:
+        /**
+         * Encode a message into binary form.
+         *
+         * @param buf The output buffer.
+         * @param offset Encoding starts at thie byte offset into @p buf.
+         * @param maxlen Maximum number of bytes to write.  This should generally be
+         *  equal to getEncodedSize().
+         * @return The number of bytes encoded, or <0 on error.
+         */
+        inline int encode(void *buf, int offset, int maxlen) const;
+
+        /**
+         * Check how many bytes are required to encode this message.
+         */
+        inline int getEncodedSize() const;
+
+        /**
+         * Decode a message from binary form into this instance.
+         *
+         * @param buf The buffer containing the encoded message.
+         * @param offset The byte offset into @p buf where the encoded message starts.
+         * @param maxlen The maximum number of bytes to read while decoding.
+         * @return The number of bytes decoded, or <0 if an error occured.
+         */
+        inline int decode(const void *buf, int offset, int maxlen);
+
+        /**
+         * Retrieve the 64-bit fingerprint identifying the structure of the message.
+         * Note that the fingerprint is the same for all instances of the same
+         * message type, and is a fingerprint on the message type definition, not on
+         * the message contents.
+         */
+        inline static int64_t getHash();
+
+        /**
+         * Returns "IMU"
+         */
+        inline static const char* getTypeName();
+
+        // LCM support functions. Users should not call these
+        inline int _encodeNoHash(void *buf, int offset, int maxlen) const;
+        inline int _getEncodedSizeNoHash() const;
+        inline int _decodeNoHash(const void *buf, int offset, int maxlen);
+        inline static uint64_t _computeHash(const __lcm_hash_ptr *p);
+};
+
+int IMU::encode(void *buf, int offset, int maxlen) const
+{
+    int pos = 0, tlen;
+    int64_t hash = getHash();
+
+    tlen = __int64_t_encode_array(buf, offset + pos, maxlen - pos, &hash, 1);
+    if(tlen < 0) return tlen; else pos += tlen;
+
+    tlen = this->_encodeNoHash(buf, offset + pos, maxlen - pos);
+    if (tlen < 0) return tlen; else pos += tlen;
+
+    return pos;
+}
+
+int IMU::decode(const void *buf, int offset, int maxlen)
+{
+    int pos = 0, thislen;
+
+    int64_t msg_hash;
+    thislen = __int64_t_decode_array(buf, offset + pos, maxlen - pos, &msg_hash, 1);
+    if (thislen < 0) return thislen; else pos += thislen;
+    if (msg_hash != getHash()) return -1;
+
+    thislen = this->_decodeNoHash(buf, offset + pos, maxlen - pos);
+    if (thislen < 0) return thislen; else pos += thislen;
+
+    return pos;
+}
+
+int IMU::getEncodedSize() const
+{
+    return 8 + _getEncodedSizeNoHash();
+}
+
+int64_t IMU::getHash()
+{
+    static int64_t hash = static_cast<int64_t>(_computeHash(NULL));
+    return hash;
+}
+
+const char* IMU::getTypeName()
+{
+    return "IMU";
+}
+
+int IMU::_encodeNoHash(void *buf, int offset, int maxlen) const
+{
+    int pos = 0, tlen;
+
+    tlen = __int64_t_encode_array(buf, offset + pos, maxlen - pos, &this->mtime, 1);
+    if(tlen < 0) return tlen; else pos += tlen;
+
+    tlen = this->orientation._encodeNoHash(buf, offset + pos, maxlen - pos);
+    if(tlen < 0) return tlen; else pos += tlen;
+
+    tlen = __double_encode_array(buf, offset + pos, maxlen - pos, &this->orientation_covariance[0], 9);
+    if(tlen < 0) return tlen; else pos += tlen;
+
+    tlen = this->angular_velocity._encodeNoHash(buf, offset + pos, maxlen - pos);
+    if(tlen < 0) return tlen; else pos += tlen;
+
+    tlen = __double_encode_array(buf, offset + pos, maxlen - pos, &this->angular_velocity_covariance[0], 9);
+    if(tlen < 0) return tlen; else pos += tlen;
+
+    tlen = this->linear_acceleration._encodeNoHash(buf, offset + pos, maxlen - pos);
+    if(tlen < 0) return tlen; else pos += tlen;
+
+    tlen = __double_encode_array(buf, offset + pos, maxlen - pos, &this->linear_acceleration_covariance[0], 9);
+    if(tlen < 0) return tlen; else pos += tlen;
+
+    return pos;
+}
+
+int IMU::_decodeNoHash(const void *buf, int offset, int maxlen)
+{
+    int pos = 0, tlen;
+
+    tlen = __int64_t_decode_array(buf, offset + pos, maxlen - pos, &this->mtime, 1);
+    if(tlen < 0) return tlen; else pos += tlen;
+
+    tlen = this->orientation._decodeNoHash(buf, offset + pos, maxlen - pos);
+    if(tlen < 0) return tlen; else pos += tlen;
+
+    tlen = __double_decode_array(buf, offset + pos, maxlen - pos, &this->orientation_covariance[0], 9);
+    if(tlen < 0) return tlen; else pos += tlen;
+
+    tlen = this->angular_velocity._decodeNoHash(buf, offset + pos, maxlen - pos);
+    if(tlen < 0) return tlen; else pos += tlen;
+
+    tlen = __double_decode_array(buf, offset + pos, maxlen - pos, &this->angular_velocity_covariance[0], 9);
+    if(tlen < 0) return tlen; else pos += tlen;
+
+    tlen = this->linear_acceleration._decodeNoHash(buf, offset + pos, maxlen - pos);
+    if(tlen < 0) return tlen; else pos += tlen;
+
+    tlen = __double_decode_array(buf, offset + pos, maxlen - pos, &this->linear_acceleration_covariance[0], 9);
+    if(tlen < 0) return tlen; else pos += tlen;
+
+    return pos;
+}
+
+int IMU::_getEncodedSizeNoHash() const
+{
+    int enc_size = 0;
+    enc_size += __int64_t_encoded_array_size(NULL, 1);
+    enc_size += this->orientation._getEncodedSizeNoHash();
+    enc_size += __double_encoded_array_size(NULL, 9);
+    enc_size += this->angular_velocity._getEncodedSizeNoHash();
+    enc_size += __double_encoded_array_size(NULL, 9);
+    enc_size += this->linear_acceleration._getEncodedSizeNoHash();
+    enc_size += __double_encoded_array_size(NULL, 9);
+    return enc_size;
+}
+
+uint64_t IMU::_computeHash(const __lcm_hash_ptr *p)
+{
+    const __lcm_hash_ptr *fp;
+    for(fp = p; fp != NULL; fp = fp->parent)
+        if(fp->v == IMU::getHash)
+            return 0;
+    const __lcm_hash_ptr cp = { p, IMU::getHash };
+
+    uint64_t hash = 0xac2e31fe8e135e97LL +
+         wescore_lcm_msgs::Quaternion::_computeHash(&cp) +
+         wescore_lcm_msgs::Vector3::_computeHash(&cp) +
+         wescore_lcm_msgs::Vector3::_computeHash(&cp);
+
+    return (hash<<1) + ((hash>>63)&1);
+}
+
+}
+
+#endif

scout_base/include/lcmtypes/wescore_lcm_msgs/NavSatFix.hpp

@@ -0,0 +1,224 @@
+/** THIS IS AN AUTOMATICALLY GENERATED FILE.  DO NOT MODIFY
+ * BY HAND!!
+ *
+ * Generated by lcm-gen
+ **/
+
+#ifndef __wescore_lcm_msgs_NavSatFix_hpp__
+#define __wescore_lcm_msgs_NavSatFix_hpp__
+
+#include <lcm/lcm_coretypes.h>
+
+#include "lcmtypes/wescore_lcm_msgs/NavSatStatus.hpp"
+
+namespace wescore_lcm_msgs
+{
+
+class NavSatFix
+{
+    public:
+        wescore_lcm_msgs::NavSatStatus status;
+
+        double     latitude;
+
+        double     longitude;
+
+        double     altitude;
+
+        double     position_covariance[9];
+
+        int8_t     position_covariance_type;
+
+    public:
+        // If you're using C++11 and are getting compiler errors saying
+        // things like ‘constexpr’ needed for in-class initialization of
+        // static data member then re-run lcm-gen with '--cpp-std=c++11'
+        // to generate code that is compliant with C++11
+        static const int8_t   COVARIANCE_TYPE_UNKNOWN = 0;
+        // If you're using C++11 and are getting compiler errors saying
+        // things like ‘constexpr’ needed for in-class initialization of
+        // static data member then re-run lcm-gen with '--cpp-std=c++11'
+        // to generate code that is compliant with C++11
+        static const int8_t   COVARIANCE_TYPE_APPROXIMATED = 1;
+        // If you're using C++11 and are getting compiler errors saying
+        // things like ‘constexpr’ needed for in-class initialization of
+        // static data member then re-run lcm-gen with '--cpp-std=c++11'
+        // to generate code that is compliant with C++11
+        static const int8_t   COVARIANCE_TYPE_DIAGONAL_KNOWN = 2;
+        // If you're using C++11 and are getting compiler errors saying
+        // things like ‘constexpr’ needed for in-class initialization of
+        // static data member then re-run lcm-gen with '--cpp-std=c++11'
+        // to generate code that is compliant with C++11
+        static const int8_t   COVARIANCE_TYPE_KNOWN = 3;
+
+    public:
+        /**
+         * Encode a message into binary form.
+         *
+         * @param buf The output buffer.
+         * @param offset Encoding starts at thie byte offset into @p buf.
+         * @param maxlen Maximum number of bytes to write.  This should generally be
+         *  equal to getEncodedSize().
+         * @return The number of bytes encoded, or <0 on error.
+         */
+        inline int encode(void *buf, int offset, int maxlen) const;
+
+        /**
+         * Check how many bytes are required to encode this message.
+         */
+        inline int getEncodedSize() const;
+
+        /**
+         * Decode a message from binary form into this instance.
+         *
+         * @param buf The buffer containing the encoded message.
+         * @param offset The byte offset into @p buf where the encoded message starts.
+         * @param maxlen The maximum number of bytes to read while decoding.
+         * @return The number of bytes decoded, or <0 if an error occured.
+         */
+        inline int decode(const void *buf, int offset, int maxlen);
+
+        /**
+         * Retrieve the 64-bit fingerprint identifying the structure of the message.
+         * Note that the fingerprint is the same for all instances of the same
+         * message type, and is a fingerprint on the message type definition, not on
+         * the message contents.
+         */
+        inline static int64_t getHash();
+
+        /**
+         * Returns "NavSatFix"
+         */
+        inline static const char* getTypeName();
+
+        // LCM support functions. Users should not call these
+        inline int _encodeNoHash(void *buf, int offset, int maxlen) const;
+        inline int _getEncodedSizeNoHash() const;
+        inline int _decodeNoHash(const void *buf, int offset, int maxlen);
+        inline static uint64_t _computeHash(const __lcm_hash_ptr *p);
+};
+
+int NavSatFix::encode(void *buf, int offset, int maxlen) const
+{
+    int pos = 0, tlen;
+    int64_t hash = getHash();
+
+    tlen = __int64_t_encode_array(buf, offset + pos, maxlen - pos, &hash, 1);
+    if(tlen < 0) return tlen; else pos += tlen;
+
+    tlen = this->_encodeNoHash(buf, offset + pos, maxlen - pos);
+    if (tlen < 0) return tlen; else pos += tlen;
+
+    return pos;
+}
+
+int NavSatFix::decode(const void *buf, int offset, int maxlen)
+{
+    int pos = 0, thislen;
+
+    int64_t msg_hash;
+    thislen = __int64_t_decode_array(buf, offset + pos, maxlen - pos, &msg_hash, 1);
+    if (thislen < 0) return thislen; else pos += thislen;
+    if (msg_hash != getHash()) return -1;
+
+    thislen = this->_decodeNoHash(buf, offset + pos, maxlen - pos);
+    if (thislen < 0) return thislen; else pos += thislen;
+
+    return pos;
+}
+
+int NavSatFix::getEncodedSize() const
+{
+    return 8 + _getEncodedSizeNoHash();
+}
+
+int64_t NavSatFix::getHash()
+{
+    static int64_t hash = static_cast<int64_t>(_computeHash(NULL));
+    return hash;
+}
+
+const char* NavSatFix::getTypeName()
+{
+    return "NavSatFix";
+}
+
+int NavSatFix::_encodeNoHash(void *buf, int offset, int maxlen) const
+{
+    int pos = 0, tlen;
+
+    tlen = this->status._encodeNoHash(buf, offset + pos, maxlen - pos);
+    if(tlen < 0) return tlen; else pos += tlen;
+
+    tlen = __double_encode_array(buf, offset + pos, maxlen - pos, &this->latitude, 1);
+    if(tlen < 0) return tlen; else pos += tlen;
+
+    tlen = __double_encode_array(buf, offset + pos, maxlen - pos, &this->longitude, 1);
+    if(tlen < 0) return tlen; else pos += tlen;
+
+    tlen = __double_encode_array(buf, offset + pos, maxlen - pos, &this->altitude, 1);
+    if(tlen < 0) return tlen; else pos += tlen;
+
+    tlen = __double_encode_array(buf, offset + pos, maxlen - pos, &this->position_covariance[0], 9);
+    if(tlen < 0) return tlen; else pos += tlen;
+
+    tlen = __int8_t_encode_array(buf, offset + pos, maxlen - pos, &this->position_covariance_type, 1);
+    if(tlen < 0) return tlen; else pos += tlen;
+
+    return pos;
+}
+
+int NavSatFix::_decodeNoHash(const void *buf, int offset, int maxlen)
+{
+    int pos = 0, tlen;
+
+    tlen = this->status._decodeNoHash(buf, offset + pos, maxlen - pos);
+    if(tlen < 0) return tlen; else pos += tlen;
+
+    tlen = __double_decode_array(buf, offset + pos, maxlen - pos, &this->latitude, 1);
+    if(tlen < 0) return tlen; else pos += tlen;
+
+    tlen = __double_decode_array(buf, offset + pos, maxlen - pos, &this->longitude, 1);
+    if(tlen < 0) return tlen; else pos += tlen;
+
+    tlen = __double_decode_array(buf, offset + pos, maxlen - pos, &this->altitude, 1);
+    if(tlen < 0) return tlen; else pos += tlen;
+
+    tlen = __double_decode_array(buf, offset + pos, maxlen - pos, &this->position_covariance[0], 9);
+    if(tlen < 0) return tlen; else pos += tlen;
+
+    tlen = __int8_t_decode_array(buf, offset + pos, maxlen - pos, &this->position_covariance_type, 1);
+    if(tlen < 0) return tlen; else pos += tlen;
+
+    return pos;
+}
+
+int NavSatFix::_getEncodedSizeNoHash() const
+{
+    int enc_size = 0;
+    enc_size += this->status._getEncodedSizeNoHash();
+    enc_size += __double_encoded_array_size(NULL, 1);
+    enc_size += __double_encoded_array_size(NULL, 1);
+    enc_size += __double_encoded_array_size(NULL, 1);
+    enc_size += __double_encoded_array_size(NULL, 9);
+    enc_size += __int8_t_encoded_array_size(NULL, 1);
+    return enc_size;
+}
+
+uint64_t NavSatFix::_computeHash(const __lcm_hash_ptr *p)
+{
+    const __lcm_hash_ptr *fp;
+    for(fp = p; fp != NULL; fp = fp->parent)
+        if(fp->v == NavSatFix::getHash)
+            return 0;
+    const __lcm_hash_ptr cp = { p, NavSatFix::getHash };
+
+    uint64_t hash = 0x60c5a36268b1a1a0LL +
+         wescore_lcm_msgs::NavSatStatus::_computeHash(&cp);
+
+    return (hash<<1) + ((hash>>63)&1);
+}
+
+}
+
+#endif

scout_base/include/lcmtypes/wescore_lcm_msgs/NavSatStatus.hpp

@@ -0,0 +1,200 @@
+/** THIS IS AN AUTOMATICALLY GENERATED FILE.  DO NOT MODIFY
+ * BY HAND!!
+ *
+ * Generated by lcm-gen
+ **/
+
+#ifndef __wescore_lcm_msgs_NavSatStatus_hpp__
+#define __wescore_lcm_msgs_NavSatStatus_hpp__
+
+#include <lcm/lcm_coretypes.h>
+
+
+namespace wescore_lcm_msgs
+{
+
+/// GPS
+class NavSatStatus
+{
+    public:
+        int8_t     status;
+
+        int16_t    service;
+
+    public:
+        // If you're using C++11 and are getting compiler errors saying
+        // things like ‘constexpr’ needed for in-class initialization of
+        // static data member then re-run lcm-gen with '--cpp-std=c++11'
+        // to generate code that is compliant with C++11
+        static const int8_t   STATUS_NO_FIX = -1;
+        // If you're using C++11 and are getting compiler errors saying
+        // things like ‘constexpr’ needed for in-class initialization of
+        // static data member then re-run lcm-gen with '--cpp-std=c++11'
+        // to generate code that is compliant with C++11
+        static const int8_t   STATUS_FIX = 0;
+        // If you're using C++11 and are getting compiler errors saying
+        // things like ‘constexpr’ needed for in-class initialization of
+        // static data member then re-run lcm-gen with '--cpp-std=c++11'
+        // to generate code that is compliant with C++11
+        static const int8_t   STATUS_SBAS_FIX = 1;
+        // If you're using C++11 and are getting compiler errors saying
+        // things like ‘constexpr’ needed for in-class initialization of
+        // static data member then re-run lcm-gen with '--cpp-std=c++11'
+        // to generate code that is compliant with C++11
+        static const int8_t   STATUS_GBAS_FIX = 2;
+        // If you're using C++11 and are getting compiler errors saying
+        // things like ‘constexpr’ needed for in-class initialization of
+        // static data member then re-run lcm-gen with '--cpp-std=c++11'
+        // to generate code that is compliant with C++11
+        static const int16_t  SERVICE_GPS = 1;
+        // If you're using C++11 and are getting compiler errors saying
+        // things like ‘constexpr’ needed for in-class initialization of
+        // static data member then re-run lcm-gen with '--cpp-std=c++11'
+        // to generate code that is compliant with C++11
+        static const int16_t  SERVICE_GLONASS = 2;
+        // If you're using C++11 and are getting compiler errors saying
+        // things like ‘constexpr’ needed for in-class initialization of
+        // static data member then re-run lcm-gen with '--cpp-std=c++11'
+        // to generate code that is compliant with C++11
+        static const int16_t  SERVICE_COMPASS = 4;
+        // If you're using C++11 and are getting compiler errors saying
+        // things like ‘constexpr’ needed for in-class initialization of
+        // static data member then re-run lcm-gen with '--cpp-std=c++11'
+        // to generate code that is compliant with C++11
+        static const int16_t  SERVICE_GALILEO = 8;
+
+    public:
+        /**
+         * Encode a message into binary form.
+         *
+         * @param buf The output buffer.
+         * @param offset Encoding starts at thie byte offset into @p buf.
+         * @param maxlen Maximum number of bytes to write.  This should generally be
+         *  equal to getEncodedSize().
+         * @return The number of bytes encoded, or <0 on error.
+         */
+        inline int encode(void *buf, int offset, int maxlen) const;
+
+        /**
+         * Check how many bytes are required to encode this message.
+         */
+        inline int getEncodedSize() const;
+
+        /**
+         * Decode a message from binary form into this instance.
+         *
+         * @param buf The buffer containing the encoded message.
+         * @param offset The byte offset into @p buf where the encoded message starts.
+         * @param maxlen The maximum number of bytes to read while decoding.
+         * @return The number of bytes decoded, or <0 if an error occured.
+         */
+        inline int decode(const void *buf, int offset, int maxlen);
+
+        /**
+         * Retrieve the 64-bit fingerprint identifying the structure of the message.
+         * Note that the fingerprint is the same for all instances of the same
+         * message type, and is a fingerprint on the message type definition, not on
+         * the message contents.
+         */
+        inline static int64_t getHash();
+
+        /**
+         * Returns "NavSatStatus"
+         */
+        inline static const char* getTypeName();
+
+        // LCM support functions. Users should not call these
+        inline int _encodeNoHash(void *buf, int offset, int maxlen) const;
+        inline int _getEncodedSizeNoHash() const;
+        inline int _decodeNoHash(const void *buf, int offset, int maxlen);
+        inline static uint64_t _computeHash(const __lcm_hash_ptr *p);
+};
+
+int NavSatStatus::encode(void *buf, int offset, int maxlen) const
+{
+    int pos = 0, tlen;
+    int64_t hash = getHash();
+
+    tlen = __int64_t_encode_array(buf, offset + pos, maxlen - pos, &hash, 1);
+    if(tlen < 0) return tlen; else pos += tlen;
+
+    tlen = this->_encodeNoHash(buf, offset + pos, maxlen - pos);
+    if (tlen < 0) return tlen; else pos += tlen;
+
+    return pos;
+}
+
+int NavSatStatus::decode(const void *buf, int offset, int maxlen)
+{
+    int pos = 0, thislen;
+
+    int64_t msg_hash;
+    thislen = __int64_t_decode_array(buf, offset + pos, maxlen - pos, &msg_hash, 1);
+    if (thislen < 0) return thislen; else pos += thislen;
+    if (msg_hash != getHash()) return -1;
+
+    thislen = this->_decodeNoHash(buf, offset + pos, maxlen - pos);
+    if (thislen < 0) return thislen; else pos += thislen;
+
+    return pos;
+}
+
+int NavSatStatus::getEncodedSize() const
+{
+    return 8 + _getEncodedSizeNoHash();
+}
+
+int64_t NavSatStatus::getHash()
+{
+    static int64_t hash = static_cast<int64_t>(_computeHash(NULL));
+    return hash;
+}
+
+const char* NavSatStatus::getTypeName()
+{
+    return "NavSatStatus";
+}
+
+int NavSatStatus::_encodeNoHash(void *buf, int offset, int maxlen) const
+{
+    int pos = 0, tlen;
+
+    tlen = __int8_t_encode_array(buf, offset + pos, maxlen - pos, &this->status, 1);
+    if(tlen < 0) return tlen; else pos += tlen;
+
+    tlen = __int16_t_encode_array(buf, offset + pos, maxlen - pos, &this->service, 1);
+    if(tlen < 0) return tlen; else pos += tlen;
+
+    return pos;
+}
+
+int NavSatStatus::_decodeNoHash(const void *buf, int offset, int maxlen)
+{
+    int pos = 0, tlen;
+
+    tlen = __int8_t_decode_array(buf, offset + pos, maxlen - pos, &this->status, 1);
+    if(tlen < 0) return tlen; else pos += tlen;
+
+    tlen = __int16_t_decode_array(buf, offset + pos, maxlen - pos, &this->service, 1);
+    if(tlen < 0) return tlen; else pos += tlen;
+
+    return pos;
+}
+
+int NavSatStatus::_getEncodedSizeNoHash() const
+{
+    int enc_size = 0;
+    enc_size += __int8_t_encoded_array_size(NULL, 1);
+    enc_size += __int16_t_encoded_array_size(NULL, 1);
+    return enc_size;
+}
+
+uint64_t NavSatStatus::_computeHash(const __lcm_hash_ptr *)
+{
+    uint64_t hash = 0x76b236592075c1dbLL;
+    return (hash<<1) + ((hash>>63)&1);
+}
+
+}
+
+#endif

scout_base/include/lcmtypes/wescore_lcm_msgs/Quaternion.hpp

@@ -0,0 +1,175 @@
+/** THIS IS AN AUTOMATICALLY GENERATED FILE.  DO NOT MODIFY
+ * BY HAND!!
+ *
+ * Generated by lcm-gen
+ **/
+
+#ifndef __wescore_lcm_msgs_Quaternion_hpp__
+#define __wescore_lcm_msgs_Quaternion_hpp__
+
+#include <lcm/lcm_coretypes.h>
+
+
+namespace wescore_lcm_msgs
+{
+
+class Quaternion
+{
+    public:
+        double     x;
+
+        double     y;
+
+        double     z;
+
+        double     w;
+
+    public:
+        /**
+         * Encode a message into binary form.
+         *
+         * @param buf The output buffer.
+         * @param offset Encoding starts at thie byte offset into @p buf.
+         * @param maxlen Maximum number of bytes to write.  This should generally be
+         *  equal to getEncodedSize().
+         * @return The number of bytes encoded, or <0 on error.
+         */
+        inline int encode(void *buf, int offset, int maxlen) const;
+
+        /**
+         * Check how many bytes are required to encode this message.
+         */
+        inline int getEncodedSize() const;
+
+        /**
+         * Decode a message from binary form into this instance.
+         *
+         * @param buf The buffer containing the encoded message.
+         * @param offset The byte offset into @p buf where the encoded message starts.
+         * @param maxlen The maximum number of bytes to read while decoding.
+         * @return The number of bytes decoded, or <0 if an error occured.
+         */
+        inline int decode(const void *buf, int offset, int maxlen);
+
+        /**
+         * Retrieve the 64-bit fingerprint identifying the structure of the message.
+         * Note that the fingerprint is the same for all instances of the same
+         * message type, and is a fingerprint on the message type definition, not on
+         * the message contents.
+         */
+        inline static int64_t getHash();
+
+        /**
+         * Returns "Quaternion"
+         */
+        inline static const char* getTypeName();
+
+        // LCM support functions. Users should not call these
+        inline int _encodeNoHash(void *buf, int offset, int maxlen) const;
+        inline int _getEncodedSizeNoHash() const;
+        inline int _decodeNoHash(const void *buf, int offset, int maxlen);
+        inline static uint64_t _computeHash(const __lcm_hash_ptr *p);
+};
+
+int Quaternion::encode(void *buf, int offset, int maxlen) const
+{
+    int pos = 0, tlen;
+    int64_t hash = getHash();
+
+    tlen = __int64_t_encode_array(buf, offset + pos, maxlen - pos, &hash, 1);
+    if(tlen < 0) return tlen; else pos += tlen;
+
+    tlen = this->_encodeNoHash(buf, offset + pos, maxlen - pos);
+    if (tlen < 0) return tlen; else pos += tlen;
+
+    return pos;
+}
+
+int Quaternion::decode(const void *buf, int offset, int maxlen)
+{
+    int pos = 0, thislen;
+
+    int64_t msg_hash;
+    thislen = __int64_t_decode_array(buf, offset + pos, maxlen - pos, &msg_hash, 1);
+    if (thislen < 0) return thislen; else pos += thislen;
+    if (msg_hash != getHash()) return -1;
+
+    thislen = this->_decodeNoHash(buf, offset + pos, maxlen - pos);
+    if (thislen < 0) return thislen; else pos += thislen;
+
+    return pos;
+}
+
+int Quaternion::getEncodedSize() const
+{
+    return 8 + _getEncodedSizeNoHash();
+}
+
+int64_t Quaternion::getHash()
+{
+    static int64_t hash = static_cast<int64_t>(_computeHash(NULL));
+    return hash;
+}
+
+const char* Quaternion::getTypeName()
+{
+    return "Quaternion";
+}
+
+int Quaternion::_encodeNoHash(void *buf, int offset, int maxlen) const
+{
+    int pos = 0, tlen;
+
+    tlen = __double_encode_array(buf, offset + pos, maxlen - pos, &this->x, 1);
+    if(tlen < 0) return tlen; else pos += tlen;
+
+    tlen = __double_encode_array(buf, offset + pos, maxlen - pos, &this->y, 1);
+    if(tlen < 0) return tlen; else pos += tlen;
+
+    tlen = __double_encode_array(buf, offset + pos, maxlen - pos, &this->z, 1);
+    if(tlen < 0) return tlen; else pos += tlen;
+
+    tlen = __double_encode_array(buf, offset + pos, maxlen - pos, &this->w, 1);
+    if(tlen < 0) return tlen; else pos += tlen;
+
+    return pos;
+}
+
+int Quaternion::_decodeNoHash(const void *buf, int offset, int maxlen)
+{
+    int pos = 0, tlen;
+
+    tlen = __double_decode_array(buf, offset + pos, maxlen - pos, &this->x, 1);
+    if(tlen < 0) return tlen; else pos += tlen;
+
+    tlen = __double_decode_array(buf, offset + pos, maxlen - pos, &this->y, 1);
+    if(tlen < 0) return tlen; else pos += tlen;
+
+    tlen = __double_decode_array(buf, offset + pos, maxlen - pos, &this->z, 1);
+    if(tlen < 0) return tlen; else pos += tlen;
+
+    tlen = __double_decode_array(buf, offset + pos, maxlen - pos, &this->w, 1);
+    if(tlen < 0) return tlen; else pos += tlen;
+
+    return pos;
+}
+
+int Quaternion::_getEncodedSizeNoHash() const
+{
+    int enc_size = 0;
+    enc_size += __double_encoded_array_size(NULL, 1);
+    enc_size += __double_encoded_array_size(NULL, 1);
+    enc_size += __double_encoded_array_size(NULL, 1);
+    enc_size += __double_encoded_array_size(NULL, 1);
+    return enc_size;
+}
+
+uint64_t Quaternion::_computeHash(const __lcm_hash_ptr *)
+{
+    uint64_t hash = 0x9b1dee9dfc8c0515LL;
+    return (hash<<1) + ((hash>>63)&1);
+}
+
+}
+
+#endif

scout_base/include/lcmtypes/wescore_lcm_msgs/RawAccel.hpp

@@ -0,0 +1,157 @@
+/** THIS IS AN AUTOMATICALLY GENERATED FILE.  DO NOT MODIFY
+ * BY HAND!!
+ *
+ * Generated by lcm-gen
+ **/
+
+#ifndef __wescore_lcm_msgs_RawAccel_hpp__
+#define __wescore_lcm_msgs_RawAccel_hpp__
+
+#include <lcm/lcm_coretypes.h>
+
+
+namespace wescore_lcm_msgs
+{
+
+class RawAccel
+{
+    public:
+        int64_t    mtime;
+
+        float      accel[3];
+
+    public:
+        /**
+         * Encode a message into binary form.
+         *
+         * @param buf The output buffer.
+         * @param offset Encoding starts at thie byte offset into @p buf.
+         * @param maxlen Maximum number of bytes to write.  This should generally be
+         *  equal to getEncodedSize().
+         * @return The number of bytes encoded, or <0 on error.
+         */
+        inline int encode(void *buf, int offset, int maxlen) const;
+
+        /**
+         * Check how many bytes are required to encode this message.
+         */
+        inline int getEncodedSize() const;
+
+        /**
+         * Decode a message from binary form into this instance.
+         *
+         * @param buf The buffer containing the encoded message.
+         * @param offset The byte offset into @p buf where the encoded message starts.
+         * @param maxlen The maximum number of bytes to read while decoding.
+         * @return The number of bytes decoded, or <0 if an error occured.
+         */
+        inline int decode(const void *buf, int offset, int maxlen);
+
+        /**
+         * Retrieve the 64-bit fingerprint identifying the structure of the message.
+         * Note that the fingerprint is the same for all instances of the same
+         * message type, and is a fingerprint on the message type definition, not on
+         * the message contents.
+         */
+        inline static int64_t getHash();
+
+        /**
+         * Returns "RawAccel"
+         */
+        inline static const char* getTypeName();
+
+        // LCM support functions. Users should not call these
+        inline int _encodeNoHash(void *buf, int offset, int maxlen) const;
+        inline int _getEncodedSizeNoHash() const;
+        inline int _decodeNoHash(const void *buf, int offset, int maxlen);
+        inline static uint64_t _computeHash(const __lcm_hash_ptr *p);
+};
+
+int RawAccel::encode(void *buf, int offset, int maxlen) const
+{
+    int pos = 0, tlen;
+    int64_t hash = getHash();
+
+    tlen = __int64_t_encode_array(buf, offset + pos, maxlen - pos, &hash, 1);
+    if(tlen < 0) return tlen; else pos += tlen;
+
+    tlen = this->_encodeNoHash(buf, offset + pos, maxlen - pos);
+    if (tlen < 0) return tlen; else pos += tlen;
+
+    return pos;
+}
+
+int RawAccel::decode(const void *buf, int offset, int maxlen)
+{
+    int pos = 0, thislen;
+
+    int64_t msg_hash;
+    thislen = __int64_t_decode_array(buf, offset + pos, maxlen - pos, &msg_hash, 1);
+    if (thislen < 0) return thislen; else pos += thislen;
+    if (msg_hash != getHash()) return -1;
+
+    thislen = this->_decodeNoHash(buf, offset + pos, maxlen - pos);
+    if (thislen < 0) return thislen; else pos += thislen;
+
+    return pos;
+}
+
+int RawAccel::getEncodedSize() const
+{
+    return 8 + _getEncodedSizeNoHash();
+}
+
+int64_t RawAccel::getHash()
+{
+    static int64_t hash = static_cast<int64_t>(_computeHash(NULL));
+    return hash;
+}
+
+const char* RawAccel::getTypeName()
+{
+    return "RawAccel";
+}
+
+int RawAccel::_encodeNoHash(void *buf, int offset, int maxlen) const
+{
+    int pos = 0, tlen;
+
+    tlen = __int64_t_encode_array(buf, offset + pos, maxlen - pos, &this->mtime, 1);
+    if(tlen < 0) return tlen; else pos += tlen;
+
+    tlen = __float_encode_array(buf, offset + pos, maxlen - pos, &this->accel[0], 3);
+    if(tlen < 0) return tlen; else pos += tlen;
+
+    return pos;
+}
+
+int RawAccel::_decodeNoHash(const void *buf, int offset, int maxlen)
+{
+    int pos = 0, tlen;
+
+    tlen = __int64_t_decode_array(buf, offset + pos, maxlen - pos, &this->mtime, 1);
+    if(tlen < 0) return tlen; else pos += tlen;
+
+    tlen = __float_decode_array(buf, offset + pos, maxlen - pos, &this->accel[0], 3);
+    if(tlen < 0) return tlen; else pos += tlen;
+
+    return pos;
+}
+
+int RawAccel::_getEncodedSizeNoHash() const
+{
+    int enc_size = 0;
+    enc_size += __int64_t_encoded_array_size(NULL, 1);
+    enc_size += __float_encoded_array_size(NULL, 3);
+    return enc_size;
+}
+
+uint64_t RawAccel::_computeHash(const __lcm_hash_ptr *)
+{
+    uint64_t hash = 0x1317644918cca9a1LL;
+    return (hash<<1) + ((hash>>63)&1);
+}
+
+}
+
+#endif

scout_base/include/lcmtypes/wescore_lcm_msgs/RawGyro.hpp

@@ -0,0 +1,158 @@
+/** THIS IS AN AUTOMATICALLY GENERATED FILE.  DO NOT MODIFY
+ * BY HAND!!
+ *
+ * Generated by lcm-gen
+ **/
+
+#ifndef __wescore_lcm_msgs_RawGyro_hpp__
+#define __wescore_lcm_msgs_RawGyro_hpp__
+
+#include <lcm/lcm_coretypes.h>
+
+
+namespace wescore_lcm_msgs
+{
+
+/// IMU data
+class RawGyro
+{
+    public:
+        int64_t    mtime;
+
+        float      gyro[3];
+
+    public:
+        /**
+         * Encode a message into binary form.
+         *
+         * @param buf The output buffer.
+         * @param offset Encoding starts at thie byte offset into @p buf.
+         * @param maxlen Maximum number of bytes to write.  This should generally be
+         *  equal to getEncodedSize().
+         * @return The number of bytes encoded, or <0 on error.
+         */
+        inline int encode(void *buf, int offset, int maxlen) const;
+
+        /**
+         * Check how many bytes are required to encode this message.
+         */
+        inline int getEncodedSize() const;
+
+        /**
+         * Decode a message from binary form into this instance.
+         *
+         * @param buf The buffer containing the encoded message.
+         * @param offset The byte offset into @p buf where the encoded message starts.
+         * @param maxlen The maximum number of bytes to read while decoding.
+         * @return The number of bytes decoded, or <0 if an error occured.
+         */
+        inline int decode(const void *buf, int offset, int maxlen);
+
+        /**
+         * Retrieve the 64-bit fingerprint identifying the structure of the message.
+         * Note that the fingerprint is the same for all instances of the same
+         * message type, and is a fingerprint on the message type definition, not on
+         * the message contents.
+         */
+        inline static int64_t getHash();
+
+        /**
+         * Returns "RawGyro"
+         */
+        inline static const char* getTypeName();
+
+        // LCM support functions. Users should not call these
+        inline int _encodeNoHash(void *buf, int offset, int maxlen) const;
+        inline int _getEncodedSizeNoHash() const;
+        inline int _decodeNoHash(const void *buf, int offset, int maxlen);
+        inline static uint64_t _computeHash(const __lcm_hash_ptr *p);
+};
+
+int RawGyro::encode(void *buf, int offset, int maxlen) const
+{
+    int pos = 0, tlen;
+    int64_t hash = getHash();
+
+    tlen = __int64_t_encode_array(buf, offset + pos, maxlen - pos, &hash, 1);
+    if(tlen < 0) return tlen; else pos += tlen;
+
+    tlen = this->_encodeNoHash(buf, offset + pos, maxlen - pos);
+    if (tlen < 0) return tlen; else pos += tlen;
+
+    return pos;
+}
+
+int RawGyro::decode(const void *buf, int offset, int maxlen)
+{
+    int pos = 0, thislen;
+
+    int64_t msg_hash;
+    thislen = __int64_t_decode_array(buf, offset + pos, maxlen - pos, &msg_hash, 1);
+    if (thislen < 0) return thislen; else pos += thislen;
+    if (msg_hash != getHash()) return -1;
+
+    thislen = this->_decodeNoHash(buf, offset + pos, maxlen - pos);
+    if (thislen < 0) return thislen; else pos += thislen;
+
+    return pos;
+}
+
+int RawGyro::getEncodedSize() const
+{
+    return 8 + _getEncodedSizeNoHash();
+}
+
+int64_t RawGyro::getHash()
+{
+    static int64_t hash = static_cast<int64_t>(_computeHash(NULL));
+    return hash;
+}
+
+const char* RawGyro::getTypeName()
+{
+    return "RawGyro";
+}
+
+int RawGyro::_encodeNoHash(void *buf, int offset, int maxlen) const
+{
+    int pos = 0, tlen;
+
+    tlen = __int64_t_encode_array(buf, offset + pos, maxlen - pos, &this->mtime, 1);
+    if(tlen < 0) return tlen; else pos += tlen;
+
+    tlen = __float_encode_array(buf, offset + pos, maxlen - pos, &this->gyro[0], 3);
+    if(tlen < 0) return tlen; else pos += tlen;
+
+    return pos;
+}
+
+int RawGyro::_decodeNoHash(const void *buf, int offset, int maxlen)
+{
+    int pos = 0, tlen;
+
+    tlen = __int64_t_decode_array(buf, offset + pos, maxlen - pos, &this->mtime, 1);
+    if(tlen < 0) return tlen; else pos += tlen;
+
+    tlen = __float_decode_array(buf, offset + pos, maxlen - pos, &this->gyro[0], 3);
+    if(tlen < 0) return tlen; else pos += tlen;
+
+    return pos;
+}
+
+int RawGyro::_getEncodedSizeNoHash() const
+{
+    int enc_size = 0;
+    enc_size += __int64_t_encoded_array_size(NULL, 1);
+    enc_size += __float_encoded_array_size(NULL, 3);
+    return enc_size;
+}
+
+uint64_t RawGyro::_computeHash(const __lcm_hash_ptr *)
+{
+    uint64_t hash = 0xc2ebea5c61fc00c8LL;
+    return (hash<<1) + ((hash>>63)&1);
+}
+
+}
+
+#endif

scout_base/include/lcmtypes/wescore_lcm_msgs/RawIMU10DOF.hpp

@@ -0,0 +1,175 @@
+/** THIS IS AN AUTOMATICALLY GENERATED FILE.  DO NOT MODIFY
+ * BY HAND!!
+ *
+ * Generated by lcm-gen
+ **/
+
+#ifndef __wescore_lcm_msgs_RawIMU10DOF_hpp__
+#define __wescore_lcm_msgs_RawIMU10DOF_hpp__
+
+#include <lcm/lcm_coretypes.h>
+
+
+namespace wescore_lcm_msgs
+{
+
+class RawIMU10DOF
+{
+    public:
+        int64_t    mtime;
+
+        float      gyro[3];
+
+        float      accel[3];
+
+        float      baro;
+
+    public:
+        /**
+         * Encode a message into binary form.
+         *
+         * @param buf The output buffer.
+         * @param offset Encoding starts at thie byte offset into @p buf.
+         * @param maxlen Maximum number of bytes to write.  This should generally be
+         *  equal to getEncodedSize().
+         * @return The number of bytes encoded, or <0 on error.
+         */
+        inline int encode(void *buf, int offset, int maxlen) const;
+
+        /**
+         * Check how many bytes are required to encode this message.
+         */
+        inline int getEncodedSize() const;
+
+        /**
+         * Decode a message from binary form into this instance.
+         *
+         * @param buf The buffer containing the encoded message.
+         * @param offset The byte offset into @p buf where the encoded message starts.
+         * @param maxlen The maximum number of bytes to read while decoding.
+         * @return The number of bytes decoded, or <0 if an error occured.
+         */
+        inline int decode(const void *buf, int offset, int maxlen);
+
+        /**
+         * Retrieve the 64-bit fingerprint identifying the structure of the message.
+         * Note that the fingerprint is the same for all instances of the same
+         * message type, and is a fingerprint on the message type definition, not on
+         * the message contents.
+         */
+        inline static int64_t getHash();
+
+        /**
+         * Returns "RawIMU10DOF"
+         */
+        inline static const char* getTypeName();
+
+        // LCM support functions. Users should not call these
+        inline int _encodeNoHash(void *buf, int offset, int maxlen) const;
+        inline int _getEncodedSizeNoHash() const;
+        inline int _decodeNoHash(const void *buf, int offset, int maxlen);
+        inline static uint64_t _computeHash(const __lcm_hash_ptr *p);
+};
+
+int RawIMU10DOF::encode(void *buf, int offset, int maxlen) const
+{
+    int pos = 0, tlen;
+    int64_t hash = getHash();
+
+    tlen = __int64_t_encode_array(buf, offset + pos, maxlen - pos, &hash, 1);
+    if(tlen < 0) return tlen; else pos += tlen;
+
+    tlen = this->_encodeNoHash(buf, offset + pos, maxlen - pos);
+    if (tlen < 0) return tlen; else pos += tlen;
+
+    return pos;
+}
+
+int RawIMU10DOF::decode(const void *buf, int offset, int maxlen)
+{
+    int pos = 0, thislen;
+
+    int64_t msg_hash;
+    thislen = __int64_t_decode_array(buf, offset + pos, maxlen - pos, &msg_hash, 1);
+    if (thislen < 0) return thislen; else pos += thislen;
+    if (msg_hash != getHash()) return -1;
+
+    thislen = this->_decodeNoHash(buf, offset + pos, maxlen - pos);
+    if (thislen < 0) return thislen; else pos += thislen;
+
+    return pos;
+}
+
+int RawIMU10DOF::getEncodedSize() const
+{
+    return 8 + _getEncodedSizeNoHash();
+}
+
+int64_t RawIMU10DOF::getHash()
+{
+    static int64_t hash = static_cast<int64_t>(_computeHash(NULL));
+    return hash;
+}
+
+const char* RawIMU10DOF::getTypeName()
+{
+    return "RawIMU10DOF";
+}
+
+int RawIMU10DOF::_encodeNoHash(void *buf, int offset, int maxlen) const
+{
+    int pos = 0, tlen;
+
+    tlen = __int64_t_encode_array(buf, offset + pos, maxlen - pos, &this->mtime, 1);
+    if(tlen < 0) return tlen; else pos += tlen;
+
+    tlen = __float_encode_array(buf, offset + pos, maxlen - pos, &this->gyro[0], 3);
+    if(tlen < 0) return tlen; else pos += tlen;
+
+    tlen = __float_encode_array(buf, offset + pos, maxlen - pos, &this->accel[0], 3);
+    if(tlen < 0) return tlen; else pos += tlen;
+
+    tlen = __float_encode_array(buf, offset + pos, maxlen - pos, &this->baro, 1);
+    if(tlen < 0) return tlen; else pos += tlen;
+
+    return pos;
+}
+
+int RawIMU10DOF::_decodeNoHash(const void *buf, int offset, int maxlen)
+{
+    int pos = 0, tlen;
+
+    tlen = __int64_t_decode_array(buf, offset + pos, maxlen - pos, &this->mtime, 1);
+    if(tlen < 0) return tlen; else pos += tlen;
+
+    tlen = __float_decode_array(buf, offset + pos, maxlen - pos, &this->gyro[0], 3);
+    if(tlen < 0) return tlen; else pos += tlen;
+
+    tlen = __float_decode_array(buf, offset + pos, maxlen - pos, &this->accel[0], 3);
+    if(tlen < 0) return tlen; else pos += tlen;
+
+    tlen = __float_decode_array(buf, offset + pos, maxlen - pos, &this->baro, 1);
+    if(tlen < 0) return tlen; else pos += tlen;
+
+    return pos;
+}
+
+int RawIMU10DOF::_getEncodedSizeNoHash() const
+{
+    int enc_size = 0;
+    enc_size += __int64_t_encoded_array_size(NULL, 1);
+    enc_size += __float_encoded_array_size(NULL, 3);
+    enc_size += __float_encoded_array_size(NULL, 3);
+    enc_size += __float_encoded_array_size(NULL, 1);
+    return enc_size;
+}
+
+uint64_t RawIMU10DOF::_computeHash(const __lcm_hash_ptr *)
+{
+    uint64_t hash = 0xd27571225f0da045LL;
+    return (hash<<1) + ((hash>>63)&1);
+}
+
+}
+
+#endif

scout_base/include/lcmtypes/wescore_lcm_msgs/RawIMU6DOF.hpp

@@ -0,0 +1,166 @@
+/** THIS IS AN AUTOMATICALLY GENERATED FILE.  DO NOT MODIFY
+ * BY HAND!!
+ *
+ * Generated by lcm-gen
+ **/
+
+#ifndef __wescore_lcm_msgs_RawIMU6DOF_hpp__
+#define __wescore_lcm_msgs_RawIMU6DOF_hpp__
+
+#include <lcm/lcm_coretypes.h>
+
+
+namespace wescore_lcm_msgs
+{
+
+class RawIMU6DOF
+{
+    public:
+        int64_t    mtime;
+
+        float      gyro[3];
+
+        float      accel[3];
+
+    public:
+        /**
+         * Encode a message into binary form.
+         *
+         * @param buf The output buffer.
+         * @param offset Encoding starts at thie byte offset into @p buf.
+         * @param maxlen Maximum number of bytes to write.  This should generally be
+         *  equal to getEncodedSize().
+         * @return The number of bytes encoded, or <0 on error.
+         */
+        inline int encode(void *buf, int offset, int maxlen) const;
+
+        /**
+         * Check how many bytes are required to encode this message.
+         */
+        inline int getEncodedSize() const;
+
+        /**
+         * Decode a message from binary form into this instance.
+         *
+         * @param buf The buffer containing the encoded message.
+         * @param offset The byte offset into @p buf where the encoded message starts.
+         * @param maxlen The maximum number of bytes to read while decoding.
+         * @return The number of bytes decoded, or <0 if an error occured.
+         */
+        inline int decode(const void *buf, int offset, int maxlen);
+
+        /**
+         * Retrieve the 64-bit fingerprint identifying the structure of the message.
+         * Note that the fingerprint is the same for all instances of the same
+         * message type, and is a fingerprint on the message type definition, not on
+         * the message contents.
+         */
+        inline static int64_t getHash();
+
+        /**
+         * Returns "RawIMU6DOF"
+         */
+        inline static const char* getTypeName();
+
+        // LCM support functions. Users should not call these
+        inline int _encodeNoHash(void *buf, int offset, int maxlen) const;
+        inline int _getEncodedSizeNoHash() const;
+        inline int _decodeNoHash(const void *buf, int offset, int maxlen);
+        inline static uint64_t _computeHash(const __lcm_hash_ptr *p);
+};
+
+int RawIMU6DOF::encode(void *buf, int offset, int maxlen) const
+{
+    int pos = 0, tlen;
+    int64_t hash = getHash();
+
+    tlen = __int64_t_encode_array(buf, offset + pos, maxlen - pos, &hash, 1);
+    if(tlen < 0) return tlen; else pos += tlen;
+
+    tlen = this->_encodeNoHash(buf, offset + pos, maxlen - pos);
+    if (tlen < 0) return tlen; else pos += tlen;
+
+    return pos;
+}
+
+int RawIMU6DOF::decode(const void *buf, int offset, int maxlen)
+{
+    int pos = 0, thislen;
+
+    int64_t msg_hash;
+    thislen = __int64_t_decode_array(buf, offset + pos, maxlen - pos, &msg_hash, 1);
+    if (thislen < 0) return thislen; else pos += thislen;
+    if (msg_hash != getHash()) return -1;
+
+    thislen = this->_decodeNoHash(buf, offset + pos, maxlen - pos);
+    if (thislen < 0) return thislen; else pos += thislen;
+
+    return pos;
+}
+
+int RawIMU6DOF::getEncodedSize() const
+{
+    return 8 + _getEncodedSizeNoHash();
+}
+
+int64_t RawIMU6DOF::getHash()
+{
+    static int64_t hash = static_cast<int64_t>(_computeHash(NULL));
+    return hash;
+}
+
+const char* RawIMU6DOF::getTypeName()
+{
+    return "RawIMU6DOF";
+}
+
+int RawIMU6DOF::_encodeNoHash(void *buf, int offset, int maxlen) const
+{
+    int pos = 0, tlen;
+
+    tlen = __int64_t_encode_array(buf, offset + pos, maxlen - pos, &this->mtime, 1);
+    if(tlen < 0) return tlen; else pos += tlen;
+
+    tlen = __float_encode_array(buf, offset + pos, maxlen - pos, &this->gyro[0], 3);
+    if(tlen < 0) return tlen; else pos += tlen;
+
+    tlen = __float_encode_array(buf, offset + pos, maxlen - pos, &this->accel[0], 3);
+    if(tlen < 0) return tlen; else pos += tlen;
+
+    return pos;
+}
+
+int RawIMU6DOF::_decodeNoHash(const void *buf, int offset, int maxlen)
+{
+    int pos = 0, tlen;
+
+    tlen = __int64_t_decode_array(buf, offset + pos, maxlen - pos, &this->mtime, 1);
+    if(tlen < 0) return tlen; else pos += tlen;
+
+    tlen = __float_decode_array(buf, offset + pos, maxlen - pos, &this->gyro[0], 3);
+    if(tlen < 0) return tlen; else pos += tlen;
+
+    tlen = __float_decode_array(buf, offset + pos, maxlen - pos, &this->accel[0], 3);
+    if(tlen < 0) return tlen; else pos += tlen;
+
+    return pos;
+}
+
+int RawIMU6DOF::_getEncodedSizeNoHash() const
+{
+    int enc_size = 0;
+    enc_size += __int64_t_encoded_array_size(NULL, 1);
+    enc_size += __float_encoded_array_size(NULL, 3);
+    enc_size += __float_encoded_array_size(NULL, 3);
+    return enc_size;
+}
+
+uint64_t RawIMU6DOF::_computeHash(const __lcm_hash_ptr *)
+{
+    uint64_t hash = 0x825c4435b1c7fa46LL;
+    return (hash<<1) + ((hash>>63)&1);
+}
+
+}
+
+#endif

scout_base/include/lcmtypes/wescore_lcm_msgs/RawIMU9DOF.hpp

@@ -0,0 +1,175 @@
+/** THIS IS AN AUTOMATICALLY GENERATED FILE.  DO NOT MODIFY
+ * BY HAND!!
+ *
+ * Generated by lcm-gen
+ **/
+
+#ifndef __wescore_lcm_msgs_RawIMU9DOF_hpp__
+#define __wescore_lcm_msgs_RawIMU9DOF_hpp__
+
+#include <lcm/lcm_coretypes.h>
+
+
+namespace wescore_lcm_msgs
+{
+
+class RawIMU9DOF
+{
+    public:
+        int64_t    mtime;
+
+        float      gyro[3];
+
+        float      accel[3];
+
+        float      magn[3];
+
+    public:
+        /**
+         * Encode a message into binary form.
+         *
+         * @param buf The output buffer.
+         * @param offset Encoding starts at thie byte offset into @p buf.
+         * @param maxlen Maximum number of bytes to write.  This should generally be
+         *  equal to getEncodedSize().
+         * @return The number of bytes encoded, or <0 on error.
+         */
+        inline int encode(void *buf, int offset, int maxlen) const;
+
+        /**
+         * Check how many bytes are required to encode this message.
+         */
+        inline int getEncodedSize() const;
+
+        /**
+         * Decode a message from binary form into this instance.
+         *
+         * @param buf The buffer containing the encoded message.
+         * @param offset The byte offset into @p buf where the encoded message starts.
+         * @param maxlen The maximum number of bytes to read while decoding.
+         * @return The number of bytes decoded, or <0 if an error occured.
+         */
+        inline int decode(const void *buf, int offset, int maxlen);
+
+        /**
+         * Retrieve the 64-bit fingerprint identifying the structure of the message.
+         * Note that the fingerprint is the same for all instances of the same
+         * message type, and is a fingerprint on the message type definition, not on
+         * the message contents.
+         */
+        inline static int64_t getHash();
+
+        /**
+         * Returns "RawIMU9DOF"
+         */
+        inline static const char* getTypeName();
+
+        // LCM support functions. Users should not call these
+        inline int _encodeNoHash(void *buf, int offset, int maxlen) const;
+        inline int _getEncodedSizeNoHash() const;
+        inline int _decodeNoHash(const void *buf, int offset, int maxlen);
+        inline static uint64_t _computeHash(const __lcm_hash_ptr *p);
+};
+
+int RawIMU9DOF::encode(void *buf, int offset, int maxlen) const
+{
+    int pos = 0, tlen;
+    int64_t hash = getHash();
+
+    tlen = __int64_t_encode_array(buf, offset + pos, maxlen - pos, &hash, 1);
+    if(tlen < 0) return tlen; else pos += tlen;
+
+    tlen = this->_encodeNoHash(buf, offset + pos, maxlen - pos);
+    if (tlen < 0) return tlen; else pos += tlen;
+
+    return pos;
+}
+
+int RawIMU9DOF::decode(const void *buf, int offset, int maxlen)
+{
+    int pos = 0, thislen;
+
+    int64_t msg_hash;
+    thislen = __int64_t_decode_array(buf, offset + pos, maxlen - pos, &msg_hash, 1);
+    if (thislen < 0) return thislen; else pos += thislen;
+    if (msg_hash != getHash()) return -1;
+
+    thislen = this->_decodeNoHash(buf, offset + pos, maxlen - pos);
+    if (thislen < 0) return thislen; else pos += thislen;
+
+    return pos;
+}
+
+int RawIMU9DOF::getEncodedSize() const
+{
+    return 8 + _getEncodedSizeNoHash();
+}
+
+int64_t RawIMU9DOF::getHash()
+{
+    static int64_t hash = static_cast<int64_t>(_computeHash(NULL));
+    return hash;
+}
+
+const char* RawIMU9DOF::getTypeName()
+{
+    return "RawIMU9DOF";
+}
+
+int RawIMU9DOF::_encodeNoHash(void *buf, int offset, int maxlen) const
+{
+    int pos = 0, tlen;
+
+    tlen = __int64_t_encode_array(buf, offset + pos, maxlen - pos, &this->mtime, 1);
+    if(tlen < 0) return tlen; else pos += tlen;
+
+    tlen = __float_encode_array(buf, offset + pos, maxlen - pos, &this->gyro[0], 3);
+    if(tlen < 0) return tlen; else pos += tlen;
+
+    tlen = __float_encode_array(buf, offset + pos, maxlen - pos, &this->accel[0], 3);
+    if(tlen < 0) return tlen; else pos += tlen;
+
+    tlen = __float_encode_array(buf, offset + pos, maxlen - pos, &this->magn[0], 3);
+    if(tlen < 0) return tlen; else pos += tlen;
+
+    return pos;
+}
+
+int RawIMU9DOF::_decodeNoHash(const void *buf, int offset, int maxlen)
+{
+    int pos = 0, tlen;
+
+    tlen = __int64_t_decode_array(buf, offset + pos, maxlen - pos, &this->mtime, 1);
+    if(tlen < 0) return tlen; else pos += tlen;
+
+    tlen = __float_decode_array(buf, offset + pos, maxlen - pos, &this->gyro[0], 3);
+    if(tlen < 0) return tlen; else pos += tlen;
+
+    tlen = __float_decode_array(buf, offset + pos, maxlen - pos, &this->accel[0], 3);
+    if(tlen < 0) return tlen; else pos += tlen;
+
+    tlen = __float_decode_array(buf, offset + pos, maxlen - pos, &this->magn[0], 3);
+    if(tlen < 0) return tlen; else pos += tlen;
+
+    return pos;
+}
+
+int RawIMU9DOF::_getEncodedSizeNoHash() const
+{
+    int enc_size = 0;
+    enc_size += __int64_t_encoded_array_size(NULL, 1);
+    enc_size += __float_encoded_array_size(NULL, 3);
+    enc_size += __float_encoded_array_size(NULL, 3);
+    enc_size += __float_encoded_array_size(NULL, 3);
+    return enc_size;
+}
+
+uint64_t RawIMU9DOF::_computeHash(const __lcm_hash_ptr *)
+{
+    uint64_t hash = 0x225ef7a05c5d1715LL;
+    return (hash<<1) + ((hash>>63)&1);
+}
+
+}
+
+#endif

scout_base/include/lcmtypes/wescore_lcm_msgs/RawMag.hpp

@@ -0,0 +1,157 @@
+/** THIS IS AN AUTOMATICALLY GENERATED FILE.  DO NOT MODIFY
+ * BY HAND!!
+ *
+ * Generated by lcm-gen
+ **/
+
+#ifndef __wescore_lcm_msgs_RawMag_hpp__
+#define __wescore_lcm_msgs_RawMag_hpp__
+
+#include <lcm/lcm_coretypes.h>
+
+
+namespace wescore_lcm_msgs
+{
+
+class RawMag
+{
+    public:
+        int64_t    mtime;
+
+        float      magn[3];
+
+    public:
+        /**
+         * Encode a message into binary form.
+         *
+         * @param buf The output buffer.
+         * @param offset Encoding starts at thie byte offset into @p buf.
+         * @param maxlen Maximum number of bytes to write.  This should generally be
+         *  equal to getEncodedSize().
+         * @return The number of bytes encoded, or <0 on error.
+         */
+        inline int encode(void *buf, int offset, int maxlen) const;
+
+        /**
+         * Check how many bytes are required to encode this message.
+         */
+        inline int getEncodedSize() const;
+
+        /**
+         * Decode a message from binary form into this instance.
+         *
+         * @param buf The buffer containing the encoded message.
+         * @param offset The byte offset into @p buf where the encoded message starts.
+         * @param maxlen The maximum number of bytes to read while decoding.
+         * @return The number of bytes decoded, or <0 if an error occured.
+         */
+        inline int decode(const void *buf, int offset, int maxlen);
+
+        /**
+         * Retrieve the 64-bit fingerprint identifying the structure of the message.
+         * Note that the fingerprint is the same for all instances of the same
+         * message type, and is a fingerprint on the message type definition, not on
+         * the message contents.
+         */
+        inline static int64_t getHash();
+
+        /**
+         * Returns "RawMag"
+         */
+        inline static const char* getTypeName();
+
+        // LCM support functions. Users should not call these
+        inline int _encodeNoHash(void *buf, int offset, int maxlen) const;
+        inline int _getEncodedSizeNoHash() const;
+        inline int _decodeNoHash(const void *buf, int offset, int maxlen);
+        inline static uint64_t _computeHash(const __lcm_hash_ptr *p);
+};
+
+int RawMag::encode(void *buf, int offset, int maxlen) const
+{
+    int pos = 0, tlen;
+    int64_t hash = getHash();
+
+    tlen = __int64_t_encode_array(buf, offset + pos, maxlen - pos, &hash, 1);
+    if(tlen < 0) return tlen; else pos += tlen;
+
+    tlen = this->_encodeNoHash(buf, offset + pos, maxlen - pos);
+    if (tlen < 0) return tlen; else pos += tlen;
+
+    return pos;
+}
+
+int RawMag::decode(const void *buf, int offset, int maxlen)
+{
+    int pos = 0, thislen;
+
+    int64_t msg_hash;
+    thislen = __int64_t_decode_array(buf, offset + pos, maxlen - pos, &msg_hash, 1);
+    if (thislen < 0) return thislen; else pos += thislen;
+    if (msg_hash != getHash()) return -1;
+
+    thislen = this->_decodeNoHash(buf, offset + pos, maxlen - pos);
+    if (thislen < 0) return thislen; else pos += thislen;
+
+    return pos;
+}
+
+int RawMag::getEncodedSize() const
+{
+    return 8 + _getEncodedSizeNoHash();
+}
+
+int64_t RawMag::getHash()
+{
+    static int64_t hash = static_cast<int64_t>(_computeHash(NULL));
+    return hash;
+}
+
+const char* RawMag::getTypeName()
+{
+    return "RawMag";
+}
+
+int RawMag::_encodeNoHash(void *buf, int offset, int maxlen) const
+{
+    int pos = 0, tlen;
+
+    tlen = __int64_t_encode_array(buf, offset + pos, maxlen - pos, &this->mtime, 1);
+    if(tlen < 0) return tlen; else pos += tlen;
+
+    tlen = __float_encode_array(buf, offset + pos, maxlen - pos, &this->magn[0], 3);
+    if(tlen < 0) return tlen; else pos += tlen;
+
+    return pos;
+}
+
+int RawMag::_decodeNoHash(const void *buf, int offset, int maxlen)
+{
+    int pos = 0, tlen;
+
+    tlen = __int64_t_decode_array(buf, offset + pos, maxlen - pos, &this->mtime, 1);
+    if(tlen < 0) return tlen; else pos += tlen;
+
+    tlen = __float_decode_array(buf, offset + pos, maxlen - pos, &this->magn[0], 3);
+    if(tlen < 0) return tlen; else pos += tlen;
+
+    return pos;
+}
+
+int RawMag::_getEncodedSizeNoHash() const
+{
+    int enc_size = 0;
+    enc_size += __int64_t_encoded_array_size(NULL, 1);
+    enc_size += __float_encoded_array_size(NULL, 3);
+    return enc_size;
+}
+
+uint64_t RawMag::_computeHash(const __lcm_hash_ptr *)
+{
+    uint64_t hash = 0xc2ebe073b6fa00c8LL;
+    return (hash<<1) + ((hash>>63)&1);
+}
+
+}
+
+#endif

scout_base/include/lcmtypes/wescore_lcm_msgs/Vector2.hpp

@@ -0,0 +1,157 @@
+/** THIS IS AN AUTOMATICALLY GENERATED FILE.  DO NOT MODIFY
+ * BY HAND!!
+ *
+ * Generated by lcm-gen
+ **/
+
+#ifndef __wescore_lcm_msgs_Vector2_hpp__
+#define __wescore_lcm_msgs_Vector2_hpp__
+
+#include <lcm/lcm_coretypes.h>
+
+
+namespace wescore_lcm_msgs
+{
+
+class Vector2
+{
+    public:
+        double     x;
+
+        double     y;
+
+    public:
+        /**
+         * Encode a message into binary form.
+         *
+         * @param buf The output buffer.
+         * @param offset Encoding starts at thie byte offset into @p buf.
+         * @param maxlen Maximum number of bytes to write.  This should generally be
+         *  equal to getEncodedSize().
+         * @return The number of bytes encoded, or <0 on error.
+         */
+        inline int encode(void *buf, int offset, int maxlen) const;
+
+        /**
+         * Check how many bytes are required to encode this message.
+         */
+        inline int getEncodedSize() const;
+
+        /**
+         * Decode a message from binary form into this instance.
+         *
+         * @param buf The buffer containing the encoded message.
+         * @param offset The byte offset into @p buf where the encoded message starts.
+         * @param maxlen The maximum number of bytes to read while decoding.
+         * @return The number of bytes decoded, or <0 if an error occured.
+         */
+        inline int decode(const void *buf, int offset, int maxlen);
+
+        /**
+         * Retrieve the 64-bit fingerprint identifying the structure of the message.
+         * Note that the fingerprint is the same for all instances of the same
+         * message type, and is a fingerprint on the message type definition, not on
+         * the message contents.
+         */
+        inline static int64_t getHash();
+
+        /**
+         * Returns "Vector2"
+         */
+        inline static const char* getTypeName();
+
+        // LCM support functions. Users should not call these
+        inline int _encodeNoHash(void *buf, int offset, int maxlen) const;
+        inline int _getEncodedSizeNoHash() const;
+        inline int _decodeNoHash(const void *buf, int offset, int maxlen);
+        inline static uint64_t _computeHash(const __lcm_hash_ptr *p);
+};
+
+int Vector2::encode(void *buf, int offset, int maxlen) const
+{
+    int pos = 0, tlen;
+    int64_t hash = getHash();
+
+    tlen = __int64_t_encode_array(buf, offset + pos, maxlen - pos, &hash, 1);
+    if(tlen < 0) return tlen; else pos += tlen;
+
+    tlen = this->_encodeNoHash(buf, offset + pos, maxlen - pos);
+    if (tlen < 0) return tlen; else pos += tlen;
+
+    return pos;
+}
+
+int Vector2::decode(const void *buf, int offset, int maxlen)
+{
+    int pos = 0, thislen;
+
+    int64_t msg_hash;
+    thislen = __int64_t_decode_array(buf, offset + pos, maxlen - pos, &msg_hash, 1);
+    if (thislen < 0) return thislen; else pos += thislen;
+    if (msg_hash != getHash()) return -1;
+
+    thislen = this->_decodeNoHash(buf, offset + pos, maxlen - pos);
+    if (thislen < 0) return thislen; else pos += thislen;
+
+    return pos;
+}
+
+int Vector2::getEncodedSize() const
+{
+    return 8 + _getEncodedSizeNoHash();
+}
+
+int64_t Vector2::getHash()
+{
+    static int64_t hash = static_cast<int64_t>(_computeHash(NULL));
+    return hash;
+}
+
+const char* Vector2::getTypeName()
+{
+    return "Vector2";
+}
+
+int Vector2::_encodeNoHash(void *buf, int offset, int maxlen) const
+{
+    int pos = 0, tlen;
+
+    tlen = __double_encode_array(buf, offset + pos, maxlen - pos, &this->x, 1);
+    if(tlen < 0) return tlen; else pos += tlen;
+
+    tlen = __double_encode_array(buf, offset + pos, maxlen - pos, &this->y, 1);
+    if(tlen < 0) return tlen; else pos += tlen;
+
+    return pos;
+}
+
+int Vector2::_decodeNoHash(const void *buf, int offset, int maxlen)
+{
+    int pos = 0, tlen;
+
+    tlen = __double_decode_array(buf, offset + pos, maxlen - pos, &this->x, 1);
+    if(tlen < 0) return tlen; else pos += tlen;
+
+    tlen = __double_decode_array(buf, offset + pos, maxlen - pos, &this->y, 1);
+    if(tlen < 0) return tlen; else pos += tlen;
+
+    return pos;
+}
+
+int Vector2::_getEncodedSizeNoHash() const
+{
+    int enc_size = 0;
+    enc_size += __double_encoded_array_size(NULL, 1);
+    enc_size += __double_encoded_array_size(NULL, 1);
+    return enc_size;
+}
+
+uint64_t Vector2::_computeHash(const __lcm_hash_ptr *)
+{
+    uint64_t hash = 0xd259512e30b44885LL;
+    return (hash<<1) + ((hash>>63)&1);
+}
+
+}
+
+#endif

scout_base/include/lcmtypes/wescore_lcm_msgs/Vector3.hpp

@@ -0,0 +1,166 @@
+/** THIS IS AN AUTOMATICALLY GENERATED FILE.  DO NOT MODIFY
+ * BY HAND!!
+ *
+ * Generated by lcm-gen
+ **/
+
+#ifndef __wescore_lcm_msgs_Vector3_hpp__
+#define __wescore_lcm_msgs_Vector3_hpp__
+
+#include <lcm/lcm_coretypes.h>
+
+
+namespace wescore_lcm_msgs
+{
+
+class Vector3
+{
+    public:
+        double     x;
+
+        double     y;
+
+        double     z;
+
+    public:
+        /**
+         * Encode a message into binary form.
+         *
+         * @param buf The output buffer.
+         * @param offset Encoding starts at thie byte offset into @p buf.
+         * @param maxlen Maximum number of bytes to write.  This should generally be
+         *  equal to getEncodedSize().
+         * @return The number of bytes encoded, or <0 on error.
+         */
+        inline int encode(void *buf, int offset, int maxlen) const;
+
+        /**
+         * Check how many bytes are required to encode this message.
+         */
+        inline int getEncodedSize() const;
+
+        /**
+         * Decode a message from binary form into this instance.
+         *
+         * @param buf The buffer containing the encoded message.
+         * @param offset The byte offset into @p buf where the encoded message starts.
+         * @param maxlen The maximum number of bytes to read while decoding.
+         * @return The number of bytes decoded, or <0 if an error occured.
+         */
+        inline int decode(const void *buf, int offset, int maxlen);
+
+        /**
+         * Retrieve the 64-bit fingerprint identifying the structure of the message.
+         * Note that the fingerprint is the same for all instances of the same
+         * message type, and is a fingerprint on the message type definition, not on
+         * the message contents.
+         */
+        inline static int64_t getHash();
+
+        /**
+         * Returns "Vector3"
+         */
+        inline static const char* getTypeName();
+
+        // LCM support functions. Users should not call these
+        inline int _encodeNoHash(void *buf, int offset, int maxlen) const;
+        inline int _getEncodedSizeNoHash() const;
+        inline int _decodeNoHash(const void *buf, int offset, int maxlen);
+        inline static uint64_t _computeHash(const __lcm_hash_ptr *p);
+};
+
+int Vector3::encode(void *buf, int offset, int maxlen) const
+{
+    int pos = 0, tlen;
+    int64_t hash = getHash();
+
+    tlen = __int64_t_encode_array(buf, offset + pos, maxlen - pos, &hash, 1);
+    if(tlen < 0) return tlen; else pos += tlen;
+
+    tlen = this->_encodeNoHash(buf, offset + pos, maxlen - pos);
+    if (tlen < 0) return tlen; else pos += tlen;
+
+    return pos;
+}
+
+int Vector3::decode(const void *buf, int offset, int maxlen)
+{
+    int pos = 0, thislen;
+
+    int64_t msg_hash;
+    thislen = __int64_t_decode_array(buf, offset + pos, maxlen - pos, &msg_hash, 1);
+    if (thislen < 0) return thislen; else pos += thislen;
+    if (msg_hash != getHash()) return -1;
+
+    thislen = this->_decodeNoHash(buf, offset + pos, maxlen - pos);
+    if (thislen < 0) return thislen; else pos += thislen;
+
+    return pos;
+}
+
+int Vector3::getEncodedSize() const
+{
+    return 8 + _getEncodedSizeNoHash();
+}
+
+int64_t Vector3::getHash()
+{
+    static int64_t hash = static_cast<int64_t>(_computeHash(NULL));
+    return hash;
+}
+
+const char* Vector3::getTypeName()
+{
+    return "Vector3";
+}
+
+int Vector3::_encodeNoHash(void *buf, int offset, int maxlen) const
+{
+    int pos = 0, tlen;
+
+    tlen = __double_encode_array(buf, offset + pos, maxlen - pos, &this->x, 1);
+    if(tlen < 0) return tlen; else pos += tlen;
+
+    tlen = __double_encode_array(buf, offset + pos, maxlen - pos, &this->y, 1);
+    if(tlen < 0) return tlen; else pos += tlen;
+
+    tlen = __double_encode_array(buf, offset + pos, maxlen - pos, &this->z, 1);
+    if(tlen < 0) return tlen; else pos += tlen;
+
+    return pos;
+}
+
+int Vector3::_decodeNoHash(const void *buf, int offset, int maxlen)
+{
+    int pos = 0, tlen;
+
+    tlen = __double_decode_array(buf, offset + pos, maxlen - pos, &this->x, 1);
+    if(tlen < 0) return tlen; else pos += tlen;
+
+    tlen = __double_decode_array(buf, offset + pos, maxlen - pos, &this->y, 1);
+    if(tlen < 0) return tlen; else pos += tlen;
+
+    tlen = __double_decode_array(buf, offset + pos, maxlen - pos, &this->z, 1);
+    if(tlen < 0) return tlen; else pos += tlen;
+
+    return pos;
+}
+
+int Vector3::_getEncodedSizeNoHash() const
+{
+    int enc_size = 0;
+    enc_size += __double_encoded_array_size(NULL, 1);
+    enc_size += __double_encoded_array_size(NULL, 1);
+    enc_size += __double_encoded_array_size(NULL, 1);
+    return enc_size;
+}
+
+uint64_t Vector3::_computeHash(const __lcm_hash_ptr *)
+{
+    uint64_t hash = 0x573f2fdd2f76508fLL;
+    return (hash<<1) + ((hash>>63)&1);
+}
+
+}
+
+#endif

scout_base/include/lcmtypes/wescore_lcm_msgs_IMU.h

@@ -0,0 +1,155 @@
+// THIS IS AN AUTOMATICALLY GENERATED FILE.  DO NOT MODIFY
+// BY HAND!!
+//
+// Generated by lcm-gen
+
+#ifndef _wescore_lcm_msgs_IMU_h
+#define _wescore_lcm_msgs_IMU_h
+
+#include <stdint.h>
+#include <stdlib.h>
+#include <lcm/lcm_coretypes.h>
+#include <lcm/lcm.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "lcmtypes/wescore_lcm_msgs_Quaternion.h"
+#include "lcmtypes/wescore_lcm_msgs_Vector3.h"
+#include "lcmtypes/wescore_lcm_msgs_Vector3.h"
+typedef struct _wescore_lcm_msgs_IMU wescore_lcm_msgs_IMU;
+struct _wescore_lcm_msgs_IMU
+{
+    int64_t    mtime;
+    wescore_lcm_msgs_Quaternion orientation;
+    double     orientation_covariance[9];
+    wescore_lcm_msgs_Vector3 angular_velocity;
+    double     angular_velocity_covariance[9];
+    wescore_lcm_msgs_Vector3 linear_acceleration;
+    double     linear_acceleration_covariance[9];
+};
+
+/**
+ * Create a deep copy of a wescore_lcm_msgs_IMU.
+ * When no longer needed, destroy it with wescore_lcm_msgs_IMU_destroy()
+ */
+wescore_lcm_msgs_IMU* wescore_lcm_msgs_IMU_copy(const wescore_lcm_msgs_IMU* to_copy);
+
+/**
+ * Destroy an instance of wescore_lcm_msgs_IMU created by wescore_lcm_msgs_IMU_copy()
+ */
+void wescore_lcm_msgs_IMU_destroy(wescore_lcm_msgs_IMU* to_destroy);
+
+/**
+ * Identifies a single subscription.  This is an opaque data type.
+ */
+typedef struct _wescore_lcm_msgs_IMU_subscription_t wescore_lcm_msgs_IMU_subscription_t;
+
+/**
+ * Prototype for a callback function invoked when a message of type
+ * wescore_lcm_msgs_IMU is received.
+ */
+typedef void(*wescore_lcm_msgs_IMU_handler_t)(
+    const lcm_recv_buf_t *rbuf, const char *channel,
+    const wescore_lcm_msgs_IMU *msg, void *userdata);
+
+/**
+ * Publish a message of type wescore_lcm_msgs_IMU using LCM.
+ *
+ * @param lcm The LCM instance to publish with.
+ * @param channel The channel to publish on.
+ * @param msg The message to publish.
+ * @return 0 on success, <0 on error.  Success means LCM has transferred
+ * responsibility of the message data to the OS.
+ */
+int wescore_lcm_msgs_IMU_publish(lcm_t *lcm, const char *channel, const wescore_lcm_msgs_IMU *msg);
+
+/**
+ * Subscribe to messages of type wescore_lcm_msgs_IMU using LCM.
+ *
+ * @param lcm The LCM instance to subscribe with.
+ * @param channel The channel to subscribe to.
+ * @param handler The callback function invoked by LCM when a message is
+ *     received. This function is invoked by LCM during calls to lcm_handle()
+ *     and lcm_handle_timeout().
+ * @param userdata An opaque pointer passed to @p handler when it is invoked.
+ * @return 0 on success, <0 if an error occured
+ */
+wescore_lcm_msgs_IMU_subscription_t* wescore_lcm_msgs_IMU_subscribe(
+    lcm_t *lcm, const char *channel, wescore_lcm_msgs_IMU_handler_t handler, void *userdata);
+
+/**
+ * Removes and destroys a subscription created by wescore_lcm_msgs_IMU_subscribe()
+ */
+int wescore_lcm_msgs_IMU_unsubscribe(lcm_t *lcm, wescore_lcm_msgs_IMU_subscription_t* hid);
+
+/**
+ * Sets the queue capacity for a subscription.
+ * Some LCM providers (e.g., the default multicast provider) are implemented
+ * using a background receive thread that constantly revceives messages from
+ * the network.  As these messages are received, they are buffered on
+ * per-subscription queues until dispatched by lcm_handle().  This function
+ * how many messages are queued before dropping messages.
+ *
+ * @param subs the subscription to modify.
+ * @param num_messages The maximum number of messages to queue
+ *  on the subscription.
+ * @return 0 on success, <0 if an error occured
+ */
+int wescore_lcm_msgs_IMU_subscription_set_queue_capacity(
+    wescore_lcm_msgs_IMU_subscription_t* subs, int num_messages);
+
+/**
+ * Encode a message of type wescore_lcm_msgs_IMU into binary form.
+ *
+ * @param buf The output buffer.
+ * @param offset Encoding starts at this byte offset into @p buf.
+ * @param maxlen Maximum number of bytes to write.  This should generally
+ *               be equal to wescore_lcm_msgs_IMU_encoded_size().
+ * @param msg The message to encode.
+ * @return The number of bytes encoded, or <0 if an error occured.
+ */
+int wescore_lcm_msgs_IMU_encode(void *buf, int offset, int maxlen, const wescore_lcm_msgs_IMU *p);
+
+/**
+ * Decode a message of type wescore_lcm_msgs_IMU from binary form.
+ * When decoding messages containing strings or variable-length arrays, this
+ * function may allocate memory.  When finished with the decoded message,
+ * release allocated resources with wescore_lcm_msgs_IMU_decode_cleanup().
+ *
+ * @param buf The buffer containing the encoded message
+ * @param offset The byte offset into @p buf where the encoded message starts.
+ * @param maxlen The maximum number of bytes to read while decoding.
+ * @param msg Output parameter where the decoded message is stored
+ * @return The number of bytes decoded, or <0 if an error occured.
+ */
+int wescore_lcm_msgs_IMU_decode(const void *buf, int offset, int maxlen, wescore_lcm_msgs_IMU *msg);
+
+/**
+ * Release resources allocated by wescore_lcm_msgs_IMU_decode()
+ * @return 0
+ */
+int wescore_lcm_msgs_IMU_decode_cleanup(wescore_lcm_msgs_IMU *p);
+
+/**
+ * Check how many bytes are required to encode a message of type wescore_lcm_msgs_IMU
+ */
+int wescore_lcm_msgs_IMU_encoded_size(const wescore_lcm_msgs_IMU *p);
+
+// LCM support functions. Users should not call these
+int64_t __wescore_lcm_msgs_IMU_get_hash(void);
+uint64_t __wescore_lcm_msgs_IMU_hash_recursive(const __lcm_hash_ptr *p);
+int __wescore_lcm_msgs_IMU_encode_array(
+    void *buf, int offset, int maxlen, const wescore_lcm_msgs_IMU *p, int elements);
+int __wescore_lcm_msgs_IMU_decode_array(
+    const void *buf, int offset, int maxlen, wescore_lcm_msgs_IMU *p, int elements);
+int __wescore_lcm_msgs_IMU_decode_array_cleanup(wescore_lcm_msgs_IMU *p, int elements);
+int __wescore_lcm_msgs_IMU_encoded_array_size(const wescore_lcm_msgs_IMU *p, int elements);
+int __wescore_lcm_msgs_IMU_clone_array(const wescore_lcm_msgs_IMU *p, wescore_lcm_msgs_IMU *q, int elements);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif

scout_base/include/lcmtypes/wescore_lcm_msgs_NavSatFix.h

@@ -0,0 +1,157 @@
+// THIS IS AN AUTOMATICALLY GENERATED FILE.  DO NOT MODIFY
+// BY HAND!!
+//
+// Generated by lcm-gen
+
+#ifndef _wescore_lcm_msgs_NavSatFix_h
+#define _wescore_lcm_msgs_NavSatFix_h
+
+#include <stdint.h>
+#include <stdlib.h>
+#include <lcm/lcm_coretypes.h>
+#include <lcm/lcm.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "lcmtypes/wescore_lcm_msgs_NavSatStatus.h"
+#define WESCORE_LCM_MSGS_NAVSATFIX_COVARIANCE_TYPE_UNKNOWN 0
+#define WESCORE_LCM_MSGS_NAVSATFIX_COVARIANCE_TYPE_APPROXIMATED 1
+#define WESCORE_LCM_MSGS_NAVSATFIX_COVARIANCE_TYPE_DIAGONAL_KNOWN 2
+#define WESCORE_LCM_MSGS_NAVSATFIX_COVARIANCE_TYPE_KNOWN 3
+
+typedef struct _wescore_lcm_msgs_NavSatFix wescore_lcm_msgs_NavSatFix;
+struct _wescore_lcm_msgs_NavSatFix
+{
+    wescore_lcm_msgs_NavSatStatus status;
+    double     latitude;
+    double     longitude;
+    double     altitude;
+    double     position_covariance[9];
+    int8_t     position_covariance_type;
+};
+
+/**
+ * Create a deep copy of a wescore_lcm_msgs_NavSatFix.
+ * When no longer needed, destroy it with wescore_lcm_msgs_NavSatFix_destroy()
+ */
+wescore_lcm_msgs_NavSatFix* wescore_lcm_msgs_NavSatFix_copy(const wescore_lcm_msgs_NavSatFix* to_copy);
+
+/**
+ * Destroy an instance of wescore_lcm_msgs_NavSatFix created by wescore_lcm_msgs_NavSatFix_copy()
+ */
+void wescore_lcm_msgs_NavSatFix_destroy(wescore_lcm_msgs_NavSatFix* to_destroy);
+
+/**
+ * Identifies a single subscription.  This is an opaque data type.
+ */
+typedef struct _wescore_lcm_msgs_NavSatFix_subscription_t wescore_lcm_msgs_NavSatFix_subscription_t;
+
+/**
+ * Prototype for a callback function invoked when a message of type
+ * wescore_lcm_msgs_NavSatFix is received.
+ */
+typedef void(*wescore_lcm_msgs_NavSatFix_handler_t)(
+    const lcm_recv_buf_t *rbuf, const char *channel,
+    const wescore_lcm_msgs_NavSatFix *msg, void *userdata);
+
+/**
+ * Publish a message of type wescore_lcm_msgs_NavSatFix using LCM.
+ *
+ * @param lcm The LCM instance to publish with.
+ * @param channel The channel to publish on.
+ * @param msg The message to publish.
+ * @return 0 on success, <0 on error.  Success means LCM has transferred
+ * responsibility of the message data to the OS.
+ */
+int wescore_lcm_msgs_NavSatFix_publish(lcm_t *lcm, const char *channel, const wescore_lcm_msgs_NavSatFix *msg);
+
+/**
+ * Subscribe to messages of type wescore_lcm_msgs_NavSatFix using LCM.
+ *
+ * @param lcm The LCM instance to subscribe with.
+ * @param channel The channel to subscribe to.
+ * @param handler The callback function invoked by LCM when a message is
+ *     received. This function is invoked by LCM during calls to lcm_handle()
+ *     and lcm_handle_timeout().
+ * @param userdata An opaque pointer passed to @p handler when it is invoked.
+ * @return 0 on success, <0 if an error occured
+ */
+wescore_lcm_msgs_NavSatFix_subscription_t* wescore_lcm_msgs_NavSatFix_subscribe(
+    lcm_t *lcm, const char *channel, wescore_lcm_msgs_NavSatFix_handler_t handler, void *userdata);
+
+/**
+ * Removes and destroys a subscription created by wescore_lcm_msgs_NavSatFix_subscribe()
+ */
+int wescore_lcm_msgs_NavSatFix_unsubscribe(lcm_t *lcm, wescore_lcm_msgs_NavSatFix_subscription_t* hid);
+
+/**
+ * Sets the queue capacity for a subscription.
+ * Some LCM providers (e.g., the default multicast provider) are implemented
+ * using a background receive thread that constantly revceives messages from
+ * the network.  As these messages are received, they are buffered on
+ * per-subscription queues until dispatched by lcm_handle().  This function
+ * how many messages are queued before dropping messages.
+ *
+ * @param subs the subscription to modify.
+ * @param num_messages The maximum number of messages to queue
+ *  on the subscription.
+ * @return 0 on success, <0 if an error occured
+ */
+int wescore_lcm_msgs_NavSatFix_subscription_set_queue_capacity(
+    wescore_lcm_msgs_NavSatFix_subscription_t* subs, int num_messages);
+
+/**
+ * Encode a message of type wescore_lcm_msgs_NavSatFix into binary form.
+ *
+ * @param buf The output buffer.
+ * @param offset Encoding starts at this byte offset into @p buf.
+ * @param maxlen Maximum number of bytes to write.  This should generally
+ *               be equal to wescore_lcm_msgs_NavSatFix_encoded_size().
+ * @param msg The message to encode.
+ * @return The number of bytes encoded, or <0 if an error occured.
+ */
+int wescore_lcm_msgs_NavSatFix_encode(void *buf, int offset, int maxlen, const wescore_lcm_msgs_NavSatFix *p);
+
+/**
+ * Decode a message of type wescore_lcm_msgs_NavSatFix from binary form.
+ * When decoding messages containing strings or variable-length arrays, this
+ * function may allocate memory.  When finished with the decoded message,
+ * release allocated resources with wescore_lcm_msgs_NavSatFix_decode_cleanup().
+ *
+ * @param buf The buffer containing the encoded message
+ * @param offset The byte offset into @p buf where the encoded message starts.
+ * @param maxlen The maximum number of bytes to read while decoding.
+ * @param msg Output parameter where the decoded message is stored
+ * @return The number of bytes decoded, or <0 if an error occured.
+ */
+int wescore_lcm_msgs_NavSatFix_decode(const void *buf, int offset, int maxlen, wescore_lcm_msgs_NavSatFix *msg);
+
+/**
+ * Release resources allocated by wescore_lcm_msgs_NavSatFix_decode()
+ * @return 0
+ */
+int wescore_lcm_msgs_NavSatFix_decode_cleanup(wescore_lcm_msgs_NavSatFix *p);
+
+/**
+ * Check how many bytes are required to encode a message of type wescore_lcm_msgs_NavSatFix
+ */
+int wescore_lcm_msgs_NavSatFix_encoded_size(const wescore_lcm_msgs_NavSatFix *p);
+
+// LCM support functions. Users should not call these
+int64_t __wescore_lcm_msgs_NavSatFix_get_hash(void);
+uint64_t __wescore_lcm_msgs_NavSatFix_hash_recursive(const __lcm_hash_ptr *p);
+int __wescore_lcm_msgs_NavSatFix_encode_array(
+    void *buf, int offset, int maxlen, const wescore_lcm_msgs_NavSatFix *p, int elements);
+int __wescore_lcm_msgs_NavSatFix_decode_array(
+    const void *buf, int offset, int maxlen, wescore_lcm_msgs_NavSatFix *p, int elements);
+int __wescore_lcm_msgs_NavSatFix_decode_array_cleanup(wescore_lcm_msgs_NavSatFix *p, int elements);
+int __wescore_lcm_msgs_NavSatFix_encoded_array_size(const wescore_lcm_msgs_NavSatFix *p, int elements);
+int __wescore_lcm_msgs_NavSatFix_clone_array(const wescore_lcm_msgs_NavSatFix *p, wescore_lcm_msgs_NavSatFix *q, int elements);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif

scout_base/include/lcmtypes/wescore_lcm_msgs_NavSatStatus.h

@@ -0,0 +1,157 @@
+// THIS IS AN AUTOMATICALLY GENERATED FILE.  DO NOT MODIFY
+// BY HAND!!
+//
+// Generated by lcm-gen
+
+#ifndef _wescore_lcm_msgs_NavSatStatus_h
+#define _wescore_lcm_msgs_NavSatStatus_h
+
+#include <stdint.h>
+#include <stdlib.h>
+#include <lcm/lcm_coretypes.h>
+#include <lcm/lcm.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#define WESCORE_LCM_MSGS_NAVSATSTATUS_STATUS_NO_FIX -1
+#define WESCORE_LCM_MSGS_NAVSATSTATUS_STATUS_FIX 0
+#define WESCORE_LCM_MSGS_NAVSATSTATUS_STATUS_SBAS_FIX 1
+#define WESCORE_LCM_MSGS_NAVSATSTATUS_STATUS_GBAS_FIX 2
+#define WESCORE_LCM_MSGS_NAVSATSTATUS_SERVICE_GPS 1
+#define WESCORE_LCM_MSGS_NAVSATSTATUS_SERVICE_GLONASS 2
+#define WESCORE_LCM_MSGS_NAVSATSTATUS_SERVICE_COMPASS 4
+#define WESCORE_LCM_MSGS_NAVSATSTATUS_SERVICE_GALILEO 8
+
+/// GPS
+typedef struct _wescore_lcm_msgs_NavSatStatus wescore_lcm_msgs_NavSatStatus;
+struct _wescore_lcm_msgs_NavSatStatus
+{
+    int8_t     status;
+    int16_t    service;
+};
+
+/**
+ * Create a deep copy of a wescore_lcm_msgs_NavSatStatus.
+ * When no longer needed, destroy it with wescore_lcm_msgs_NavSatStatus_destroy()
+ */
+wescore_lcm_msgs_NavSatStatus* wescore_lcm_msgs_NavSatStatus_copy(const wescore_lcm_msgs_NavSatStatus* to_copy);
+
+/**
+ * Destroy an instance of wescore_lcm_msgs_NavSatStatus created by wescore_lcm_msgs_NavSatStatus_copy()
+ */
+void wescore_lcm_msgs_NavSatStatus_destroy(wescore_lcm_msgs_NavSatStatus* to_destroy);
+
+/**
+ * Identifies a single subscription.  This is an opaque data type.
+ */
+typedef struct _wescore_lcm_msgs_NavSatStatus_subscription_t wescore_lcm_msgs_NavSatStatus_subscription_t;
+
+/**
+ * Prototype for a callback function invoked when a message of type
+ * wescore_lcm_msgs_NavSatStatus is received.
+ */
+typedef void(*wescore_lcm_msgs_NavSatStatus_handler_t)(
+    const lcm_recv_buf_t *rbuf, const char *channel,
+    const wescore_lcm_msgs_NavSatStatus *msg, void *userdata);
+
+/**
+ * Publish a message of type wescore_lcm_msgs_NavSatStatus using LCM.
+ *
+ * @param lcm The LCM instance to publish with.
+ * @param channel The channel to publish on.
+ * @param msg The message to publish.
+ * @return 0 on success, <0 on error.  Success means LCM has transferred
+ * responsibility of the message data to the OS.
+ */
+int wescore_lcm_msgs_NavSatStatus_publish(lcm_t *lcm, const char *channel, const wescore_lcm_msgs_NavSatStatus *msg);
+
+/**
+ * Subscribe to messages of type wescore_lcm_msgs_NavSatStatus using LCM.
+ *
+ * @param lcm The LCM instance to subscribe with.
+ * @param channel The channel to subscribe to.
+ * @param handler The callback function invoked by LCM when a message is
+ *     received. This function is invoked by LCM during calls to lcm_handle()
+ *     and lcm_handle_timeout().
+ * @param userdata An opaque pointer passed to @p handler when it is invoked.
+ * @return 0 on success, <0 if an error occured
+ */
+wescore_lcm_msgs_NavSatStatus_subscription_t* wescore_lcm_msgs_NavSatStatus_subscribe(
+    lcm_t *lcm, const char *channel, wescore_lcm_msgs_NavSatStatus_handler_t handler, void *userdata);
+
+/**
+ * Removes and destroys a subscription created by wescore_lcm_msgs_NavSatStatus_subscribe()
+ */
+int wescore_lcm_msgs_NavSatStatus_unsubscribe(lcm_t *lcm, wescore_lcm_msgs_NavSatStatus_subscription_t* hid);
+
+/**
+ * Sets the queue capacity for a subscription.
+ * Some LCM providers (e.g., the default multicast provider) are implemented
+ * using a background receive thread that constantly revceives messages from
+ * the network.  As these messages are received, they are buffered on
+ * per-subscription queues until dispatched by lcm_handle().  This function
+ * how many messages are queued before dropping messages.
+ *
+ * @param subs the subscription to modify.
+ * @param num_messages The maximum number of messages to queue
+ *  on the subscription.
+ * @return 0 on success, <0 if an error occured
+ */
+int wescore_lcm_msgs_NavSatStatus_subscription_set_queue_capacity(
+    wescore_lcm_msgs_NavSatStatus_subscription_t* subs, int num_messages);
+
+/**
+ * Encode a message of type wescore_lcm_msgs_NavSatStatus into binary form.
+ *
+ * @param buf The output buffer.
+ * @param offset Encoding starts at this byte offset into @p buf.
+ * @param maxlen Maximum number of bytes to write.  This should generally
+ *               be equal to wescore_lcm_msgs_NavSatStatus_encoded_size().
+ * @param msg The message to encode.
+ * @return The number of bytes encoded, or <0 if an error occured.
+ */
+int wescore_lcm_msgs_NavSatStatus_encode(void *buf, int offset, int maxlen, const wescore_lcm_msgs_NavSatStatus *p);
+
+/**
+ * Decode a message of type wescore_lcm_msgs_NavSatStatus from binary form.
+ * When decoding messages containing strings or variable-length arrays, this
+ * function may allocate memory.  When finished with the decoded message,
+ * release allocated resources with wescore_lcm_msgs_NavSatStatus_decode_cleanup().
+ *
+ * @param buf The buffer containing the encoded message
+ * @param offset The byte offset into @p buf where the encoded message starts.
+ * @param maxlen The maximum number of bytes to read while decoding.
+ * @param msg Output parameter where the decoded message is stored
+ * @return The number of bytes decoded, or <0 if an error occured.
+ */
+int wescore_lcm_msgs_NavSatStatus_decode(const void *buf, int offset, int maxlen, wescore_lcm_msgs_NavSatStatus *msg);
+
+/**
+ * Release resources allocated by wescore_lcm_msgs_NavSatStatus_decode()
+ * @return 0
+ */
+int wescore_lcm_msgs_NavSatStatus_decode_cleanup(wescore_lcm_msgs_NavSatStatus *p);
+
+/**
+ * Check how many bytes are required to encode a message of type wescore_lcm_msgs_NavSatStatus
+ */
+int wescore_lcm_msgs_NavSatStatus_encoded_size(const wescore_lcm_msgs_NavSatStatus *p);
+
+// LCM support functions. Users should not call these
+int64_t __wescore_lcm_msgs_NavSatStatus_get_hash(void);
+uint64_t __wescore_lcm_msgs_NavSatStatus_hash_recursive(const __lcm_hash_ptr *p);
+int __wescore_lcm_msgs_NavSatStatus_encode_array(
+    void *buf, int offset, int maxlen, const wescore_lcm_msgs_NavSatStatus *p, int elements);
+int __wescore_lcm_msgs_NavSatStatus_decode_array(
+    const void *buf, int offset, int maxlen, wescore_lcm_msgs_NavSatStatus *p, int elements);
+int __wescore_lcm_msgs_NavSatStatus_decode_array_cleanup(wescore_lcm_msgs_NavSatStatus *p, int elements);
+int __wescore_lcm_msgs_NavSatStatus_encoded_array_size(const wescore_lcm_msgs_NavSatStatus *p, int elements);
+int __wescore_lcm_msgs_NavSatStatus_clone_array(const wescore_lcm_msgs_NavSatStatus *p, wescore_lcm_msgs_NavSatStatus *q, int elements);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif

scout_base/include/lcmtypes/wescore_lcm_msgs_Quaternion.h

@@ -0,0 +1,149 @@
+// THIS IS AN AUTOMATICALLY GENERATED FILE.  DO NOT MODIFY
+// BY HAND!!
+//
+// Generated by lcm-gen
+
+#ifndef _wescore_lcm_msgs_Quaternion_h
+#define _wescore_lcm_msgs_Quaternion_h
+
+#include <stdint.h>
+#include <stdlib.h>
+#include <lcm/lcm_coretypes.h>
+#include <lcm/lcm.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+typedef struct _wescore_lcm_msgs_Quaternion wescore_lcm_msgs_Quaternion;
+struct _wescore_lcm_msgs_Quaternion
+{
+    double     x;
+    double     y;
+    double     z;
+    double     w;
+};
+
+/**
+ * Create a deep copy of a wescore_lcm_msgs_Quaternion.
+ * When no longer needed, destroy it with wescore_lcm_msgs_Quaternion_destroy()
+ */
+wescore_lcm_msgs_Quaternion* wescore_lcm_msgs_Quaternion_copy(const wescore_lcm_msgs_Quaternion* to_copy);
+
+/**
+ * Destroy an instance of wescore_lcm_msgs_Quaternion created by wescore_lcm_msgs_Quaternion_copy()
+ */
+void wescore_lcm_msgs_Quaternion_destroy(wescore_lcm_msgs_Quaternion* to_destroy);
+
+/**
+ * Identifies a single subscription.  This is an opaque data type.
+ */
+typedef struct _wescore_lcm_msgs_Quaternion_subscription_t wescore_lcm_msgs_Quaternion_subscription_t;
+
+/**
+ * Prototype for a callback function invoked when a message of type
+ * wescore_lcm_msgs_Quaternion is received.
+ */
+typedef void(*wescore_lcm_msgs_Quaternion_handler_t)(
+    const lcm_recv_buf_t *rbuf, const char *channel,
+    const wescore_lcm_msgs_Quaternion *msg, void *userdata);
+
+/**
+ * Publish a message of type wescore_lcm_msgs_Quaternion using LCM.
+ *
+ * @param lcm The LCM instance to publish with.
+ * @param channel The channel to publish on.
+ * @param msg The message to publish.
+ * @return 0 on success, <0 on error.  Success means LCM has transferred
+ * responsibility of the message data to the OS.
+ */
+int wescore_lcm_msgs_Quaternion_publish(lcm_t *lcm, const char *channel, const wescore_lcm_msgs_Quaternion *msg);
+
+/**
+ * Subscribe to messages of type wescore_lcm_msgs_Quaternion using LCM.
+ *
+ * @param lcm The LCM instance to subscribe with.
+ * @param channel The channel to subscribe to.
+ * @param handler The callback function invoked by LCM when a message is
+ *     received. This function is invoked by LCM during calls to lcm_handle()
+ *     and lcm_handle_timeout().
+ * @param userdata An opaque pointer passed to @p handler when it is invoked.
+ * @return 0 on success, <0 if an error occured
+ */
+wescore_lcm_msgs_Quaternion_subscription_t* wescore_lcm_msgs_Quaternion_subscribe(
+    lcm_t *lcm, const char *channel, wescore_lcm_msgs_Quaternion_handler_t handler, void *userdata);
+
+/**
+ * Removes and destroys a subscription created by wescore_lcm_msgs_Quaternion_subscribe()
+ */
+int wescore_lcm_msgs_Quaternion_unsubscribe(lcm_t *lcm, wescore_lcm_msgs_Quaternion_subscription_t* hid);
+
+/**
+ * Sets the queue capacity for a subscription.
+ * Some LCM providers (e.g., the default multicast provider) are implemented
+ * using a background receive thread that constantly revceives messages from
+ * the network.  As these messages are received, they are buffered on
+ * per-subscription queues until dispatched by lcm_handle().  This function
+ * how many messages are queued before dropping messages.
+ *
+ * @param subs the subscription to modify.
+ * @param num_messages The maximum number of messages to queue
+ *  on the subscription.
+ * @return 0 on success, <0 if an error occured
+ */
+int wescore_lcm_msgs_Quaternion_subscription_set_queue_capacity(
+    wescore_lcm_msgs_Quaternion_subscription_t* subs, int num_messages);
+
+/**
+ * Encode a message of type wescore_lcm_msgs_Quaternion into binary form.
+ *
+ * @param buf The output buffer.
+ * @param offset Encoding starts at this byte offset into @p buf.
+ * @param maxlen Maximum number of bytes to write.  This should generally
+ *               be equal to wescore_lcm_msgs_Quaternion_encoded_size().
+ * @param msg The message to encode.
+ * @return The number of bytes encoded, or <0 if an error occured.
+ */
+int wescore_lcm_msgs_Quaternion_encode(void *buf, int offset, int maxlen, const wescore_lcm_msgs_Quaternion *p);
+
+/**
+ * Decode a message of type wescore_lcm_msgs_Quaternion from binary form.
+ * When decoding messages containing strings or variable-length arrays, this
+ * function may allocate memory.  When finished with the decoded message,
+ * release allocated resources with wescore_lcm_msgs_Quaternion_decode_cleanup().
+ *
+ * @param buf The buffer containing the encoded message
+ * @param offset The byte offset into @p buf where the encoded message starts.
+ * @param maxlen The maximum number of bytes to read while decoding.
+ * @param msg Output parameter where the decoded message is stored
+ * @return The number of bytes decoded, or <0 if an error occured.
+ */
+int wescore_lcm_msgs_Quaternion_decode(const void *buf, int offset, int maxlen, wescore_lcm_msgs_Quaternion *msg);
+
+/**
+ * Release resources allocated by wescore_lcm_msgs_Quaternion_decode()
+ * @return 0
+ */
+int wescore_lcm_msgs_Quaternion_decode_cleanup(wescore_lcm_msgs_Quaternion *p);
+
+/**
+ * Check how many bytes are required to encode a message of type wescore_lcm_msgs_Quaternion
+ */
+int wescore_lcm_msgs_Quaternion_encoded_size(const wescore_lcm_msgs_Quaternion *p);
+
+// LCM support functions. Users should not call these
+int64_t __wescore_lcm_msgs_Quaternion_get_hash(void);
+uint64_t __wescore_lcm_msgs_Quaternion_hash_recursive(const __lcm_hash_ptr *p);
+int __wescore_lcm_msgs_Quaternion_encode_array(
+    void *buf, int offset, int maxlen, const wescore_lcm_msgs_Quaternion *p, int elements);
+int __wescore_lcm_msgs_Quaternion_decode_array(
+    const void *buf, int offset, int maxlen, wescore_lcm_msgs_Quaternion *p, int elements);
+int __wescore_lcm_msgs_Quaternion_decode_array_cleanup(wescore_lcm_msgs_Quaternion *p, int elements);
+int __wescore_lcm_msgs_Quaternion_encoded_array_size(const wescore_lcm_msgs_Quaternion *p, int elements);
+int __wescore_lcm_msgs_Quaternion_clone_array(const wescore_lcm_msgs_Quaternion *p, wescore_lcm_msgs_Quaternion *q, int elements);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif

scout_base/include/lcmtypes/wescore_lcm_msgs_RawAccel.h

@@ -0,0 +1,147 @@
+// THIS IS AN AUTOMATICALLY GENERATED FILE.  DO NOT MODIFY
+// BY HAND!!
+//
+// Generated by lcm-gen
+
+#ifndef _wescore_lcm_msgs_RawAccel_h
+#define _wescore_lcm_msgs_RawAccel_h
+
+#include <stdint.h>
+#include <stdlib.h>
+#include <lcm/lcm_coretypes.h>
+#include <lcm/lcm.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+typedef struct _wescore_lcm_msgs_RawAccel wescore_lcm_msgs_RawAccel;
+struct _wescore_lcm_msgs_RawAccel
+{
+    int64_t    mtime;
+    float      accel[3];
+};
+
+/**
+ * Create a deep copy of a wescore_lcm_msgs_RawAccel.
+ * When no longer needed, destroy it with wescore_lcm_msgs_RawAccel_destroy()
+ */
+wescore_lcm_msgs_RawAccel* wescore_lcm_msgs_RawAccel_copy(const wescore_lcm_msgs_RawAccel* to_copy);
+
+/**
+ * Destroy an instance of wescore_lcm_msgs_RawAccel created by wescore_lcm_msgs_RawAccel_copy()
+ */
+void wescore_lcm_msgs_RawAccel_destroy(wescore_lcm_msgs_RawAccel* to_destroy);
+
+/**
+ * Identifies a single subscription.  This is an opaque data type.
+ */
+typedef struct _wescore_lcm_msgs_RawAccel_subscription_t wescore_lcm_msgs_RawAccel_subscription_t;
+
+/**
+ * Prototype for a callback function invoked when a message of type
+ * wescore_lcm_msgs_RawAccel is received.
+ */
+typedef void(*wescore_lcm_msgs_RawAccel_handler_t)(
+    const lcm_recv_buf_t *rbuf, const char *channel,
+    const wescore_lcm_msgs_RawAccel *msg, void *userdata);
+
+/**
+ * Publish a message of type wescore_lcm_msgs_RawAccel using LCM.
+ *
+ * @param lcm The LCM instance to publish with.
+ * @param channel The channel to publish on.
+ * @param msg The message to publish.
+ * @return 0 on success, <0 on error.  Success means LCM has transferred
+ * responsibility of the message data to the OS.
+ */
+int wescore_lcm_msgs_RawAccel_publish(lcm_t *lcm, const char *channel, const wescore_lcm_msgs_RawAccel *msg);
+
+/**
+ * Subscribe to messages of type wescore_lcm_msgs_RawAccel using LCM.
+ *
+ * @param lcm The LCM instance to subscribe with.
+ * @param channel The channel to subscribe to.
+ * @param handler The callback function invoked by LCM when a message is
+ *     received. This function is invoked by LCM during calls to lcm_handle()
+ *     and lcm_handle_timeout().
+ * @param userdata An opaque pointer passed to @p handler when it is invoked.
+ * @return 0 on success, <0 if an error occured
+ */
+wescore_lcm_msgs_RawAccel_subscription_t* wescore_lcm_msgs_RawAccel_subscribe(
+    lcm_t *lcm, const char *channel, wescore_lcm_msgs_RawAccel_handler_t handler, void *userdata);
+
+/**
+ * Removes and destroys a subscription created by wescore_lcm_msgs_RawAccel_subscribe()
+ */
+int wescore_lcm_msgs_RawAccel_unsubscribe(lcm_t *lcm, wescore_lcm_msgs_RawAccel_subscription_t* hid);
+
+/**
+ * Sets the queue capacity for a subscription.
+ * Some LCM providers (e.g., the default multicast provider) are implemented
+ * using a background receive thread that constantly revceives messages from
+ * the network.  As these messages are received, they are buffered on
+ * per-subscription queues until dispatched by lcm_handle().  This function
+ * how many messages are queued before dropping messages.
+ *
+ * @param subs the subscription to modify.
+ * @param num_messages The maximum number of messages to queue
+ *  on the subscription.
+ * @return 0 on success, <0 if an error occured
+ */
+int wescore_lcm_msgs_RawAccel_subscription_set_queue_capacity(
+    wescore_lcm_msgs_RawAccel_subscription_t* subs, int num_messages);
+
+/**
+ * Encode a message of type wescore_lcm_msgs_RawAccel into binary form.
+ *
+ * @param buf The output buffer.
+ * @param offset Encoding starts at this byte offset into @p buf.
+ * @param maxlen Maximum number of bytes to write.  This should generally
+ *               be equal to wescore_lcm_msgs_RawAccel_encoded_size().
+ * @param msg The message to encode.
+ * @return The number of bytes encoded, or <0 if an error occured.
+ */
+int wescore_lcm_msgs_RawAccel_encode(void *buf, int offset, int maxlen, const wescore_lcm_msgs_RawAccel *p);
+
+/**
+ * Decode a message of type wescore_lcm_msgs_RawAccel from binary form.
+ * When decoding messages containing strings or variable-length arrays, this
+ * function may allocate memory.  When finished with the decoded message,
+ * release allocated resources with wescore_lcm_msgs_RawAccel_decode_cleanup().
+ *
+ * @param buf The buffer containing the encoded message
+ * @param offset The byte offset into @p buf where the encoded message starts.
+ * @param maxlen The maximum number of bytes to read while decoding.
+ * @param msg Output parameter where the decoded message is stored
+ * @return The number of bytes decoded, or <0 if an error occured.
+ */
+int wescore_lcm_msgs_RawAccel_decode(const void *buf, int offset, int maxlen, wescore_lcm_msgs_RawAccel *msg);
+
+/**
+ * Release resources allocated by wescore_lcm_msgs_RawAccel_decode()
+ * @return 0
+ */
+int wescore_lcm_msgs_RawAccel_decode_cleanup(wescore_lcm_msgs_RawAccel *p);
+
+/**
+ * Check how many bytes are required to encode a message of type wescore_lcm_msgs_RawAccel
+ */
+int wescore_lcm_msgs_RawAccel_encoded_size(const wescore_lcm_msgs_RawAccel *p);
+
+// LCM support functions. Users should not call these
+int64_t __wescore_lcm_msgs_RawAccel_get_hash(void);
+uint64_t __wescore_lcm_msgs_RawAccel_hash_recursive(const __lcm_hash_ptr *p);
+int __wescore_lcm_msgs_RawAccel_encode_array(
+    void *buf, int offset, int maxlen, const wescore_lcm_msgs_RawAccel *p, int elements);
+int __wescore_lcm_msgs_RawAccel_decode_array(
+    const void *buf, int offset, int maxlen, wescore_lcm_msgs_RawAccel *p, int elements);
+int __wescore_lcm_msgs_RawAccel_decode_array_cleanup(wescore_lcm_msgs_RawAccel *p, int elements);
+int __wescore_lcm_msgs_RawAccel_encoded_array_size(const wescore_lcm_msgs_RawAccel *p, int elements);
+int __wescore_lcm_msgs_RawAccel_clone_array(const wescore_lcm_msgs_RawAccel *p, wescore_lcm_msgs_RawAccel *q, int elements);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif

scout_base/include/lcmtypes/wescore_lcm_msgs_RawGyro.h

@@ -0,0 +1,148 @@
+// THIS IS AN AUTOMATICALLY GENERATED FILE.  DO NOT MODIFY
+// BY HAND!!
+//
+// Generated by lcm-gen
+
+#ifndef _wescore_lcm_msgs_RawGyro_h
+#define _wescore_lcm_msgs_RawGyro_h
+
+#include <stdint.h>
+#include <stdlib.h>
+#include <lcm/lcm_coretypes.h>
+#include <lcm/lcm.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/// IMU data
+typedef struct _wescore_lcm_msgs_RawGyro wescore_lcm_msgs_RawGyro;
+struct _wescore_lcm_msgs_RawGyro
+{
+    int64_t    mtime;
+    float      gyro[3];
+};
+
+/**
+ * Create a deep copy of a wescore_lcm_msgs_RawGyro.
+ * When no longer needed, destroy it with wescore_lcm_msgs_RawGyro_destroy()
+ */
+wescore_lcm_msgs_RawGyro* wescore_lcm_msgs_RawGyro_copy(const wescore_lcm_msgs_RawGyro* to_copy);
+
+/**
+ * Destroy an instance of wescore_lcm_msgs_RawGyro created by wescore_lcm_msgs_RawGyro_copy()
+ */
+void wescore_lcm_msgs_RawGyro_destroy(wescore_lcm_msgs_RawGyro* to_destroy);
+
+/**
+ * Identifies a single subscription.  This is an opaque data type.
+ */
+typedef struct _wescore_lcm_msgs_RawGyro_subscription_t wescore_lcm_msgs_RawGyro_subscription_t;
+
+/**
+ * Prototype for a callback function invoked when a message of type
+ * wescore_lcm_msgs_RawGyro is received.
+ */
+typedef void(*wescore_lcm_msgs_RawGyro_handler_t)(
+    const lcm_recv_buf_t *rbuf, const char *channel,
+    const wescore_lcm_msgs_RawGyro *msg, void *userdata);
+
+/**
+ * Publish a message of type wescore_lcm_msgs_RawGyro using LCM.
+ *
+ * @param lcm The LCM instance to publish with.
+ * @param channel The channel to publish on.
+ * @param msg The message to publish.
+ * @return 0 on success, <0 on error.  Success means LCM has transferred
+ * responsibility of the message data to the OS.
+ */
+int wescore_lcm_msgs_RawGyro_publish(lcm_t *lcm, const char *channel, const wescore_lcm_msgs_RawGyro *msg);
+
+/**
+ * Subscribe to messages of type wescore_lcm_msgs_RawGyro using LCM.
+ *
+ * @param lcm The LCM instance to subscribe with.
+ * @param channel The channel to subscribe to.
+ * @param handler The callback function invoked by LCM when a message is
+ *     received. This function is invoked by LCM during calls to lcm_handle()
+ *     and lcm_handle_timeout().
+ * @param userdata An opaque pointer passed to @p handler when it is invoked.
+ * @return 0 on success, <0 if an error occured
+ */
+wescore_lcm_msgs_RawGyro_subscription_t* wescore_lcm_msgs_RawGyro_subscribe(
+    lcm_t *lcm, const char *channel, wescore_lcm_msgs_RawGyro_handler_t handler, void *userdata);
+
+/**
+ * Removes and destroys a subscription created by wescore_lcm_msgs_RawGyro_subscribe()
+ */
+int wescore_lcm_msgs_RawGyro_unsubscribe(lcm_t *lcm, wescore_lcm_msgs_RawGyro_subscription_t* hid);
+
+/**
+ * Sets the queue capacity for a subscription.
+ * Some LCM providers (e.g., the default multicast provider) are implemented
+ * using a background receive thread that constantly revceives messages from
+ * the network.  As these messages are received, they are buffered on
+ * per-subscription queues until dispatched by lcm_handle().  This function
+ * how many messages are queued before dropping messages.
+ *
+ * @param subs the subscription to modify.
+ * @param num_messages The maximum number of messages to queue
+ *  on the subscription.
+ * @return 0 on success, <0 if an error occured
+ */
+int wescore_lcm_msgs_RawGyro_subscription_set_queue_capacity(
+    wescore_lcm_msgs_RawGyro_subscription_t* subs, int num_messages);
+
+/**
+ * Encode a message of type wescore_lcm_msgs_RawGyro into binary form.
+ *
+ * @param buf The output buffer.
+ * @param offset Encoding starts at this byte offset into @p buf.
+ * @param maxlen Maximum number of bytes to write.  This should generally
+ *               be equal to wescore_lcm_msgs_RawGyro_encoded_size().
+ * @param msg The message to encode.
+ * @return The number of bytes encoded, or <0 if an error occured.
+ */
+int wescore_lcm_msgs_RawGyro_encode(void *buf, int offset, int maxlen, const wescore_lcm_msgs_RawGyro *p);
+
+/**
+ * Decode a message of type wescore_lcm_msgs_RawGyro from binary form.
+ * When decoding messages containing strings or variable-length arrays, this
+ * function may allocate memory.  When finished with the decoded message,
+ * release allocated resources with wescore_lcm_msgs_RawGyro_decode_cleanup().
+ *
+ * @param buf The buffer containing the encoded message
+ * @param offset The byte offset into @p buf where the encoded message starts.
+ * @param maxlen The maximum number of bytes to read while decoding.
+ * @param msg Output parameter where the decoded message is stored
+ * @return The number of bytes decoded, or <0 if an error occured.
+ */
+int wescore_lcm_msgs_RawGyro_decode(const void *buf, int offset, int maxlen, wescore_lcm_msgs_RawGyro *msg);
+
+/**
+ * Release resources allocated by wescore_lcm_msgs_RawGyro_decode()
+ * @return 0
+ */
+int wescore_lcm_msgs_RawGyro_decode_cleanup(wescore_lcm_msgs_RawGyro *p);
+
+/**
+ * Check how many bytes are required to encode a message of type wescore_lcm_msgs_RawGyro
+ */
+int wescore_lcm_msgs_RawGyro_encoded_size(const wescore_lcm_msgs_RawGyro *p);
+
+// LCM support functions. Users should not call these
+int64_t __wescore_lcm_msgs_RawGyro_get_hash(void);
+uint64_t __wescore_lcm_msgs_RawGyro_hash_recursive(const __lcm_hash_ptr *p);
+int __wescore_lcm_msgs_RawGyro_encode_array(
+    void *buf, int offset, int maxlen, const wescore_lcm_msgs_RawGyro *p, int elements);
+int __wescore_lcm_msgs_RawGyro_decode_array(
+    const void *buf, int offset, int maxlen, wescore_lcm_msgs_RawGyro *p, int elements);
+int __wescore_lcm_msgs_RawGyro_decode_array_cleanup(wescore_lcm_msgs_RawGyro *p, int elements);
+int __wescore_lcm_msgs_RawGyro_encoded_array_size(const wescore_lcm_msgs_RawGyro *p, int elements);
+int __wescore_lcm_msgs_RawGyro_clone_array(const wescore_lcm_msgs_RawGyro *p, wescore_lcm_msgs_RawGyro *q, int elements);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif

scout_base/include/lcmtypes/wescore_lcm_msgs_RawIMU10DOF.h

@@ -0,0 +1,149 @@
+// THIS IS AN AUTOMATICALLY GENERATED FILE.  DO NOT MODIFY
+// BY HAND!!
+//
+// Generated by lcm-gen
+
+#ifndef _wescore_lcm_msgs_RawIMU10DOF_h
+#define _wescore_lcm_msgs_RawIMU10DOF_h
+
+#include <stdint.h>
+#include <stdlib.h>
+#include <lcm/lcm_coretypes.h>
+#include <lcm/lcm.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+typedef struct _wescore_lcm_msgs_RawIMU10DOF wescore_lcm_msgs_RawIMU10DOF;
+struct _wescore_lcm_msgs_RawIMU10DOF
+{
+    int64_t    mtime;
+    float      gyro[3];
+    float      accel[3];
+    float      baro;
+};
+
+/**
+ * Create a deep copy of a wescore_lcm_msgs_RawIMU10DOF.
+ * When no longer needed, destroy it with wescore_lcm_msgs_RawIMU10DOF_destroy()
+ */
+wescore_lcm_msgs_RawIMU10DOF* wescore_lcm_msgs_RawIMU10DOF_copy(const wescore_lcm_msgs_RawIMU10DOF* to_copy);
+
+/**
+ * Destroy an instance of wescore_lcm_msgs_RawIMU10DOF created by wescore_lcm_msgs_RawIMU10DOF_copy()
+ */
+void wescore_lcm_msgs_RawIMU10DOF_destroy(wescore_lcm_msgs_RawIMU10DOF* to_destroy);
+
+/**
+ * Identifies a single subscription.  This is an opaque data type.
+ */
+typedef struct _wescore_lcm_msgs_RawIMU10DOF_subscription_t wescore_lcm_msgs_RawIMU10DOF_subscription_t;
+
+/**
+ * Prototype for a callback function invoked when a message of type
+ * wescore_lcm_msgs_RawIMU10DOF is received.
+ */
+typedef void(*wescore_lcm_msgs_RawIMU10DOF_handler_t)(
+    const lcm_recv_buf_t *rbuf, const char *channel,
+    const wescore_lcm_msgs_RawIMU10DOF *msg, void *userdata);
+
+/**
+ * Publish a message of type wescore_lcm_msgs_RawIMU10DOF using LCM.
+ *
+ * @param lcm The LCM instance to publish with.
+ * @param channel The channel to publish on.
+ * @param msg The message to publish.
+ * @return 0 on success, <0 on error.  Success means LCM has transferred
+ * responsibility of the message data to the OS.
+ */
+int wescore_lcm_msgs_RawIMU10DOF_publish(lcm_t *lcm, const char *channel, const wescore_lcm_msgs_RawIMU10DOF *msg);
+
+/**
+ * Subscribe to messages of type wescore_lcm_msgs_RawIMU10DOF using LCM.
+ *
+ * @param lcm The LCM instance to subscribe with.
+ * @param channel The channel to subscribe to.
+ * @param handler The callback function invoked by LCM when a message is
+ *     received. This function is invoked by LCM during calls to lcm_handle()
+ *     and lcm_handle_timeout().
+ * @param userdata An opaque pointer passed to @p handler when it is invoked.
+ * @return 0 on success, <0 if an error occured
+ */
+wescore_lcm_msgs_RawIMU10DOF_subscription_t* wescore_lcm_msgs_RawIMU10DOF_subscribe(
+    lcm_t *lcm, const char *channel, wescore_lcm_msgs_RawIMU10DOF_handler_t handler, void *userdata);
+
+/**
+ * Removes and destroys a subscription created by wescore_lcm_msgs_RawIMU10DOF_subscribe()
+ */
+int wescore_lcm_msgs_RawIMU10DOF_unsubscribe(lcm_t *lcm, wescore_lcm_msgs_RawIMU10DOF_subscription_t* hid);
+
+/**
+ * Sets the queue capacity for a subscription.
+ * Some LCM providers (e.g., the default multicast provider) are implemented
+ * using a background receive thread that constantly revceives messages from
+ * the network.  As these messages are received, they are buffered on
+ * per-subscription queues until dispatched by lcm_handle().  This function
+ * how many messages are queued before dropping messages.
+ *
+ * @param subs the subscription to modify.
+ * @param num_messages The maximum number of messages to queue
+ *  on the subscription.
+ * @return 0 on success, <0 if an error occured
+ */
+int wescore_lcm_msgs_RawIMU10DOF_subscription_set_queue_capacity(
+    wescore_lcm_msgs_RawIMU10DOF_subscription_t* subs, int num_messages);
+
+/**
+ * Encode a message of type wescore_lcm_msgs_RawIMU10DOF into binary form.
+ *
+ * @param buf The output buffer.
+ * @param offset Encoding starts at this byte offset into @p buf.
+ * @param maxlen Maximum number of bytes to write.  This should generally
+ *               be equal to wescore_lcm_msgs_RawIMU10DOF_encoded_size().
+ * @param msg The message to encode.
+ * @return The number of bytes encoded, or <0 if an error occured.
+ */
+int wescore_lcm_msgs_RawIMU10DOF_encode(void *buf, int offset, int maxlen, const wescore_lcm_msgs_RawIMU10DOF *p);
+
+/**
+ * Decode a message of type wescore_lcm_msgs_RawIMU10DOF from binary form.
+ * When decoding messages containing strings or variable-length arrays, this
+ * function may allocate memory.  When finished with the decoded message,
+ * release allocated resources with wescore_lcm_msgs_RawIMU10DOF_decode_cleanup().
+ *
+ * @param buf The buffer containing the encoded message
+ * @param offset The byte offset into @p buf where the encoded message starts.
+ * @param maxlen The maximum number of bytes to read while decoding.
+ * @param msg Output parameter where the decoded message is stored
+ * @return The number of bytes decoded, or <0 if an error occured.
+ */
+int wescore_lcm_msgs_RawIMU10DOF_decode(const void *buf, int offset, int maxlen, wescore_lcm_msgs_RawIMU10DOF *msg);
+
+/**
+ * Release resources allocated by wescore_lcm_msgs_RawIMU10DOF_decode()
+ * @return 0
+ */
+int wescore_lcm_msgs_RawIMU10DOF_decode_cleanup(wescore_lcm_msgs_RawIMU10DOF *p);
+
+/**
+ * Check how many bytes are required to encode a message of type wescore_lcm_msgs_RawIMU10DOF
+ */
+int wescore_lcm_msgs_RawIMU10DOF_encoded_size(const wescore_lcm_msgs_RawIMU10DOF *p);
+
+// LCM support functions. Users should not call these
+int64_t __wescore_lcm_msgs_RawIMU10DOF_get_hash(void);
+uint64_t __wescore_lcm_msgs_RawIMU10DOF_hash_recursive(const __lcm_hash_ptr *p);
+int __wescore_lcm_msgs_RawIMU10DOF_encode_array(
+    void *buf, int offset, int maxlen, const wescore_lcm_msgs_RawIMU10DOF *p, int elements);
+int __wescore_lcm_msgs_RawIMU10DOF_decode_array(
+    const void *buf, int offset, int maxlen, wescore_lcm_msgs_RawIMU10DOF *p, int elements);
+int __wescore_lcm_msgs_RawIMU10DOF_decode_array_cleanup(wescore_lcm_msgs_RawIMU10DOF *p, int elements);
+int __wescore_lcm_msgs_RawIMU10DOF_encoded_array_size(const wescore_lcm_msgs_RawIMU10DOF *p, int elements);
+int __wescore_lcm_msgs_RawIMU10DOF_clone_array(const wescore_lcm_msgs_RawIMU10DOF *p, wescore_lcm_msgs_RawIMU10DOF *q, int elements);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif

scout_base/include/lcmtypes/wescore_lcm_msgs_RawIMU6DOF.h

@@ -0,0 +1,148 @@
+// THIS IS AN AUTOMATICALLY GENERATED FILE.  DO NOT MODIFY
+// BY HAND!!
+//
+// Generated by lcm-gen
+
+#ifndef _wescore_lcm_msgs_RawIMU6DOF_h
+#define _wescore_lcm_msgs_RawIMU6DOF_h
+
+#include <stdint.h>
+#include <stdlib.h>
+#include <lcm/lcm_coretypes.h>
+#include <lcm/lcm.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+typedef struct _wescore_lcm_msgs_RawIMU6DOF wescore_lcm_msgs_RawIMU6DOF;
+struct _wescore_lcm_msgs_RawIMU6DOF
+{
+    int64_t    mtime;
+    float      gyro[3];
+    float      accel[3];
+};
+
+/**
+ * Create a deep copy of a wescore_lcm_msgs_RawIMU6DOF.
+ * When no longer needed, destroy it with wescore_lcm_msgs_RawIMU6DOF_destroy()
+ */
+wescore_lcm_msgs_RawIMU6DOF* wescore_lcm_msgs_RawIMU6DOF_copy(const wescore_lcm_msgs_RawIMU6DOF* to_copy);
+
+/**
+ * Destroy an instance of wescore_lcm_msgs_RawIMU6DOF created by wescore_lcm_msgs_RawIMU6DOF_copy()
+ */
+void wescore_lcm_msgs_RawIMU6DOF_destroy(wescore_lcm_msgs_RawIMU6DOF* to_destroy);
+
+/**
+ * Identifies a single subscription.  This is an opaque data type.
+ */
+typedef struct _wescore_lcm_msgs_RawIMU6DOF_subscription_t wescore_lcm_msgs_RawIMU6DOF_subscription_t;
+
+/**
+ * Prototype for a callback function invoked when a message of type
+ * wescore_lcm_msgs_RawIMU6DOF is received.
+ */
+typedef void(*wescore_lcm_msgs_RawIMU6DOF_handler_t)(
+    const lcm_recv_buf_t *rbuf, const char *channel,
+    const wescore_lcm_msgs_RawIMU6DOF *msg, void *userdata);
+
+/**
+ * Publish a message of type wescore_lcm_msgs_RawIMU6DOF using LCM.
+ *
+ * @param lcm The LCM instance to publish with.
+ * @param channel The channel to publish on.
+ * @param msg The message to publish.
+ * @return 0 on success, <0 on error.  Success means LCM has transferred
+ * responsibility of the message data to the OS.
+ */
+int wescore_lcm_msgs_RawIMU6DOF_publish(lcm_t *lcm, const char *channel, const wescore_lcm_msgs_RawIMU6DOF *msg);
+
+/**
+ * Subscribe to messages of type wescore_lcm_msgs_RawIMU6DOF using LCM.
+ *
+ * @param lcm The LCM instance to subscribe with.
+ * @param channel The channel to subscribe to.
+ * @param handler The callback function invoked by LCM when a message is
+ *     received. This function is invoked by LCM during calls to lcm_handle()
+ *     and lcm_handle_timeout().
+ * @param userdata An opaque pointer passed to @p handler when it is invoked.
+ * @return 0 on success, <0 if an error occured
+ */
+wescore_lcm_msgs_RawIMU6DOF_subscription_t* wescore_lcm_msgs_RawIMU6DOF_subscribe(
+    lcm_t *lcm, const char *channel, wescore_lcm_msgs_RawIMU6DOF_handler_t handler, void *userdata);
+
+/**
+ * Removes and destroys a subscription created by wescore_lcm_msgs_RawIMU6DOF_subscribe()
+ */
+int wescore_lcm_msgs_RawIMU6DOF_unsubscribe(lcm_t *lcm, wescore_lcm_msgs_RawIMU6DOF_subscription_t* hid);
+
+/**
+ * Sets the queue capacity for a subscription.
+ * Some LCM providers (e.g., the default multicast provider) are implemented
+ * using a background receive thread that constantly revceives messages from
+ * the network.  As these messages are received, they are buffered on
+ * per-subscription queues until dispatched by lcm_handle().  This function
+ * how many messages are queued before dropping messages.
+ *
+ * @param subs the subscription to modify.
+ * @param num_messages The maximum number of messages to queue
+ *  on the subscription.
+ * @return 0 on success, <0 if an error occured
+ */
+int wescore_lcm_msgs_RawIMU6DOF_subscription_set_queue_capacity(
+    wescore_lcm_msgs_RawIMU6DOF_subscription_t* subs, int num_messages);
+
+/**
+ * Encode a message of type wescore_lcm_msgs_RawIMU6DOF into binary form.
+ *
+ * @param buf The output buffer.
+ * @param offset Encoding starts at this byte offset into @p buf.
+ * @param maxlen Maximum number of bytes to write.  This should generally
+ *               be equal to wescore_lcm_msgs_RawIMU6DOF_encoded_size().
+ * @param msg The message to encode.
+ * @return The number of bytes encoded, or <0 if an error occured.
+ */
+int wescore_lcm_msgs_RawIMU6DOF_encode(void *buf, int offset, int maxlen, const wescore_lcm_msgs_RawIMU6DOF *p);
+
+/**
+ * Decode a message of type wescore_lcm_msgs_RawIMU6DOF from binary form.
+ * When decoding messages containing strings or variable-length arrays, this
+ * function may allocate memory.  When finished with the decoded message,
+ * release allocated resources with wescore_lcm_msgs_RawIMU6DOF_decode_cleanup().
+ *
+ * @param buf The buffer containing the encoded message
+ * @param offset The byte offset into @p buf where the encoded message starts.
+ * @param maxlen The maximum number of bytes to read while decoding.
+ * @param msg Output parameter where the decoded message is stored
+ * @return The number of bytes decoded, or <0 if an error occured.
+ */
+int wescore_lcm_msgs_RawIMU6DOF_decode(const void *buf, int offset, int maxlen, wescore_lcm_msgs_RawIMU6DOF *msg);
+
+/**
+ * Release resources allocated by wescore_lcm_msgs_RawIMU6DOF_decode()
+ * @return 0
+ */
+int wescore_lcm_msgs_RawIMU6DOF_decode_cleanup(wescore_lcm_msgs_RawIMU6DOF *p);
+
+/**
+ * Check how many bytes are required to encode a message of type wescore_lcm_msgs_RawIMU6DOF
+ */
+int wescore_lcm_msgs_RawIMU6DOF_encoded_size(const wescore_lcm_msgs_RawIMU6DOF *p);
+
+// LCM support functions. Users should not call these
+int64_t __wescore_lcm_msgs_RawIMU6DOF_get_hash(void);
+uint64_t __wescore_lcm_msgs_RawIMU6DOF_hash_recursive(const __lcm_hash_ptr *p);
+int __wescore_lcm_msgs_RawIMU6DOF_encode_array(
+    void *buf, int offset, int maxlen, const wescore_lcm_msgs_RawIMU6DOF *p, int elements);
+int __wescore_lcm_msgs_RawIMU6DOF_decode_array(
+    const void *buf, int offset, int maxlen, wescore_lcm_msgs_RawIMU6DOF *p, int elements);
+int __wescore_lcm_msgs_RawIMU6DOF_decode_array_cleanup(wescore_lcm_msgs_RawIMU6DOF *p, int elements);
+int __wescore_lcm_msgs_RawIMU6DOF_encoded_array_size(const wescore_lcm_msgs_RawIMU6DOF *p, int elements);
+int __wescore_lcm_msgs_RawIMU6DOF_clone_array(const wescore_lcm_msgs_RawIMU6DOF *p, wescore_lcm_msgs_RawIMU6DOF *q, int elements);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif

scout_base/include/lcmtypes/wescore_lcm_msgs_RawIMU9DOF.h

@@ -0,0 +1,149 @@
+// THIS IS AN AUTOMATICALLY GENERATED FILE.  DO NOT MODIFY
+// BY HAND!!
+//
+// Generated by lcm-gen
+
+#ifndef _wescore_lcm_msgs_RawIMU9DOF_h
+#define _wescore_lcm_msgs_RawIMU9DOF_h
+
+#include <stdint.h>
+#include <stdlib.h>
+#include <lcm/lcm_coretypes.h>
+#include <lcm/lcm.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+typedef struct _wescore_lcm_msgs_RawIMU9DOF wescore_lcm_msgs_RawIMU9DOF;
+struct _wescore_lcm_msgs_RawIMU9DOF
+{
+    int64_t    mtime;
+    float      gyro[3];
+    float      accel[3];
+    float      magn[3];
+};
+
+/**
+ * Create a deep copy of a wescore_lcm_msgs_RawIMU9DOF.
+ * When no longer needed, destroy it with wescore_lcm_msgs_RawIMU9DOF_destroy()
+ */
+wescore_lcm_msgs_RawIMU9DOF* wescore_lcm_msgs_RawIMU9DOF_copy(const wescore_lcm_msgs_RawIMU9DOF* to_copy);
+
+/**
+ * Destroy an instance of wescore_lcm_msgs_RawIMU9DOF created by wescore_lcm_msgs_RawIMU9DOF_copy()
+ */
+void wescore_lcm_msgs_RawIMU9DOF_destroy(wescore_lcm_msgs_RawIMU9DOF* to_destroy);
+
+/**
+ * Identifies a single subscription.  This is an opaque data type.
+ */
+typedef struct _wescore_lcm_msgs_RawIMU9DOF_subscription_t wescore_lcm_msgs_RawIMU9DOF_subscription_t;
+
+/**
+ * Prototype for a callback function invoked when a message of type
+ * wescore_lcm_msgs_RawIMU9DOF is received.
+ */
+typedef void(*wescore_lcm_msgs_RawIMU9DOF_handler_t)(
+    const lcm_recv_buf_t *rbuf, const char *channel,
+    const wescore_lcm_msgs_RawIMU9DOF *msg, void *userdata);
+
+/**
+ * Publish a message of type wescore_lcm_msgs_RawIMU9DOF using LCM.
+ *
+ * @param lcm The LCM instance to publish with.
+ * @param channel The channel to publish on.
+ * @param msg The message to publish.
+ * @return 0 on success, <0 on error.  Success means LCM has transferred
+ * responsibility of the message data to the OS.
+ */
+int wescore_lcm_msgs_RawIMU9DOF_publish(lcm_t *lcm, const char *channel, const wescore_lcm_msgs_RawIMU9DOF *msg);
+
+/**
+ * Subscribe to messages of type wescore_lcm_msgs_RawIMU9DOF using LCM.
+ *
+ * @param lcm The LCM instance to subscribe with.
+ * @param channel The channel to subscribe to.
+ * @param handler The callback function invoked by LCM when a message is
+ *     received. This function is invoked by LCM during calls to lcm_handle()
+ *     and lcm_handle_timeout().
+ * @param userdata An opaque pointer passed to @p handler when it is invoked.
+ * @return 0 on success, <0 if an error occured
+ */
+wescore_lcm_msgs_RawIMU9DOF_subscription_t* wescore_lcm_msgs_RawIMU9DOF_subscribe(
+    lcm_t *lcm, const char *channel, wescore_lcm_msgs_RawIMU9DOF_handler_t handler, void *userdata);
+
+/**
+ * Removes and destroys a subscription created by wescore_lcm_msgs_RawIMU9DOF_subscribe()
+ */
+int wescore_lcm_msgs_RawIMU9DOF_unsubscribe(lcm_t *lcm, wescore_lcm_msgs_RawIMU9DOF_subscription_t* hid);
+
+/**
+ * Sets the queue capacity for a subscription.
+ * Some LCM providers (e.g., the default multicast provider) are implemented
+ * using a background receive thread that constantly revceives messages from
+ * the network.  As these messages are received, they are buffered on
+ * per-subscription queues until dispatched by lcm_handle().  This function
+ * how many messages are queued before dropping messages.
+ *
+ * @param subs the subscription to modify.
+ * @param num_messages The maximum number of messages to queue
+ *  on the subscription.
+ * @return 0 on success, <0 if an error occured
+ */
+int wescore_lcm_msgs_RawIMU9DOF_subscription_set_queue_capacity(
+    wescore_lcm_msgs_RawIMU9DOF_subscription_t* subs, int num_messages);
+
+/**
+ * Encode a message of type wescore_lcm_msgs_RawIMU9DOF into binary form.
+ *
+ * @param buf The output buffer.
+ * @param offset Encoding starts at this byte offset into @p buf.
+ * @param maxlen Maximum number of bytes to write.  This should generally
+ *               be equal to wescore_lcm_msgs_RawIMU9DOF_encoded_size().
+ * @param msg The message to encode.
+ * @return The number of bytes encoded, or <0 if an error occured.
+ */
+int wescore_lcm_msgs_RawIMU9DOF_encode(void *buf, int offset, int maxlen, const wescore_lcm_msgs_RawIMU9DOF *p);
+
+/**
+ * Decode a message of type wescore_lcm_msgs_RawIMU9DOF from binary form.
+ * When decoding messages containing strings or variable-length arrays, this
+ * function may allocate memory.  When finished with the decoded message,
+ * release allocated resources with wescore_lcm_msgs_RawIMU9DOF_decode_cleanup().
+ *
+ * @param buf The buffer containing the encoded message
+ * @param offset The byte offset into @p buf where the encoded message starts.
+ * @param maxlen The maximum number of bytes to read while decoding.
+ * @param msg Output parameter where the decoded message is stored
+ * @return The number of bytes decoded, or <0 if an error occured.
+ */
+int wescore_lcm_msgs_RawIMU9DOF_decode(const void *buf, int offset, int maxlen, wescore_lcm_msgs_RawIMU9DOF *msg);
+
+/**
+ * Release resources allocated by wescore_lcm_msgs_RawIMU9DOF_decode()
+ * @return 0
+ */
+int wescore_lcm_msgs_RawIMU9DOF_decode_cleanup(wescore_lcm_msgs_RawIMU9DOF *p);
+
+/**
+ * Check how many bytes are required to encode a message of type wescore_lcm_msgs_RawIMU9DOF
+ */
+int wescore_lcm_msgs_RawIMU9DOF_encoded_size(const wescore_lcm_msgs_RawIMU9DOF *p);
+
+// LCM support functions. Users should not call these
+int64_t __wescore_lcm_msgs_RawIMU9DOF_get_hash(void);
+uint64_t __wescore_lcm_msgs_RawIMU9DOF_hash_recursive(const __lcm_hash_ptr *p);
+int __wescore_lcm_msgs_RawIMU9DOF_encode_array(
+    void *buf, int offset, int maxlen, const wescore_lcm_msgs_RawIMU9DOF *p, int elements);
+int __wescore_lcm_msgs_RawIMU9DOF_decode_array(
+    const void *buf, int offset, int maxlen, wescore_lcm_msgs_RawIMU9DOF *p, int elements);
+int __wescore_lcm_msgs_RawIMU9DOF_decode_array_cleanup(wescore_lcm_msgs_RawIMU9DOF *p, int elements);
+int __wescore_lcm_msgs_RawIMU9DOF_encoded_array_size(const wescore_lcm_msgs_RawIMU9DOF *p, int elements);
+int __wescore_lcm_msgs_RawIMU9DOF_clone_array(const wescore_lcm_msgs_RawIMU9DOF *p, wescore_lcm_msgs_RawIMU9DOF *q, int elements);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif

scout_base/include/lcmtypes/wescore_lcm_msgs_RawMag.h

@@ -0,0 +1,147 @@
+// THIS IS AN AUTOMATICALLY GENERATED FILE.  DO NOT MODIFY
+// BY HAND!!
+//
+// Generated by lcm-gen
+
+#ifndef _wescore_lcm_msgs_RawMag_h
+#define _wescore_lcm_msgs_RawMag_h
+
+#include <stdint.h>
+#include <stdlib.h>
+#include <lcm/lcm_coretypes.h>
+#include <lcm/lcm.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+typedef struct _wescore_lcm_msgs_RawMag wescore_lcm_msgs_RawMag;
+struct _wescore_lcm_msgs_RawMag
+{
+    int64_t    mtime;
+    float      magn[3];
+};
+
+/**
+ * Create a deep copy of a wescore_lcm_msgs_RawMag.
+ * When no longer needed, destroy it with wescore_lcm_msgs_RawMag_destroy()
+ */
+wescore_lcm_msgs_RawMag* wescore_lcm_msgs_RawMag_copy(const wescore_lcm_msgs_RawMag* to_copy);
+
+/**
+ * Destroy an instance of wescore_lcm_msgs_RawMag created by wescore_lcm_msgs_RawMag_copy()
+ */
+void wescore_lcm_msgs_RawMag_destroy(wescore_lcm_msgs_RawMag* to_destroy);
+
+/**
+ * Identifies a single subscription.  This is an opaque data type.
+ */
+typedef struct _wescore_lcm_msgs_RawMag_subscription_t wescore_lcm_msgs_RawMag_subscription_t;
+
+/**
+ * Prototype for a callback function invoked when a message of type
+ * wescore_lcm_msgs_RawMag is received.
+ */
+typedef void(*wescore_lcm_msgs_RawMag_handler_t)(
+    const lcm_recv_buf_t *rbuf, const char *channel,
+    const wescore_lcm_msgs_RawMag *msg, void *userdata);
+
+/**
+ * Publish a message of type wescore_lcm_msgs_RawMag using LCM.
+ *
+ * @param lcm The LCM instance to publish with.
+ * @param channel The channel to publish on.
+ * @param msg The message to publish.
+ * @return 0 on success, <0 on error.  Success means LCM has transferred
+ * responsibility of the message data to the OS.
+ */
+int wescore_lcm_msgs_RawMag_publish(lcm_t *lcm, const char *channel, const wescore_lcm_msgs_RawMag *msg);
+
+/**
+ * Subscribe to messages of type wescore_lcm_msgs_RawMag using LCM.
+ *
+ * @param lcm The LCM instance to subscribe with.
+ * @param channel The channel to subscribe to.
+ * @param handler The callback function invoked by LCM when a message is
+ *     received. This function is invoked by LCM during calls to lcm_handle()
+ *     and lcm_handle_timeout().
+ * @param userdata An opaque pointer passed to @p handler when it is invoked.
+ * @return 0 on success, <0 if an error occured
+ */
+wescore_lcm_msgs_RawMag_subscription_t* wescore_lcm_msgs_RawMag_subscribe(
+    lcm_t *lcm, const char *channel, wescore_lcm_msgs_RawMag_handler_t handler, void *userdata);
+
+/**
+ * Removes and destroys a subscription created by wescore_lcm_msgs_RawMag_subscribe()
+ */
+int wescore_lcm_msgs_RawMag_unsubscribe(lcm_t *lcm, wescore_lcm_msgs_RawMag_subscription_t* hid);
+
+/**
+ * Sets the queue capacity for a subscription.
+ * Some LCM providers (e.g., the default multicast provider) are implemented
+ * using a background receive thread that constantly revceives messages from
+ * the network.  As these messages are received, they are buffered on
+ * per-subscription queues until dispatched by lcm_handle().  This function
+ * how many messages are queued before dropping messages.
+ *
+ * @param subs the subscription to modify.
+ * @param num_messages The maximum number of messages to queue
+ *  on the subscription.
+ * @return 0 on success, <0 if an error occured
+ */
+int wescore_lcm_msgs_RawMag_subscription_set_queue_capacity(
+    wescore_lcm_msgs_RawMag_subscription_t* subs, int num_messages);
+
+/**
+ * Encode a message of type wescore_lcm_msgs_RawMag into binary form.
+ *
+ * @param buf The output buffer.
+ * @param offset Encoding starts at this byte offset into @p buf.
+ * @param maxlen Maximum number of bytes to write.  This should generally
+ *               be equal to wescore_lcm_msgs_RawMag_encoded_size().
+ * @param msg The message to encode.
+ * @return The number of bytes encoded, or <0 if an error occured.
+ */
+int wescore_lcm_msgs_RawMag_encode(void *buf, int offset, int maxlen, const wescore_lcm_msgs_RawMag *p);
+
+/**
+ * Decode a message of type wescore_lcm_msgs_RawMag from binary form.
+ * When decoding messages containing strings or variable-length arrays, this
+ * function may allocate memory.  When finished with the decoded message,
+ * release allocated resources with wescore_lcm_msgs_RawMag_decode_cleanup().
+ *
+ * @param buf The buffer containing the encoded message
+ * @param offset The byte offset into @p buf where the encoded message starts.
+ * @param maxlen The maximum number of bytes to read while decoding.
+ * @param msg Output parameter where the decoded message is stored
+ * @return The number of bytes decoded, or <0 if an error occured.
+ */
+int wescore_lcm_msgs_RawMag_decode(const void *buf, int offset, int maxlen, wescore_lcm_msgs_RawMag *msg);
+
+/**
+ * Release resources allocated by wescore_lcm_msgs_RawMag_decode()
+ * @return 0
+ */
+int wescore_lcm_msgs_RawMag_decode_cleanup(wescore_lcm_msgs_RawMag *p);
+
+/**
+ * Check how many bytes are required to encode a message of type wescore_lcm_msgs_RawMag
+ */
+int wescore_lcm_msgs_RawMag_encoded_size(const wescore_lcm_msgs_RawMag *p);
+
+// LCM support functions. Users should not call these
+int64_t __wescore_lcm_msgs_RawMag_get_hash(void);
+uint64_t __wescore_lcm_msgs_RawMag_hash_recursive(const __lcm_hash_ptr *p);
+int __wescore_lcm_msgs_RawMag_encode_array(
+    void *buf, int offset, int maxlen, const wescore_lcm_msgs_RawMag *p, int elements);
+int __wescore_lcm_msgs_RawMag_decode_array(
+    const void *buf, int offset, int maxlen, wescore_lcm_msgs_RawMag *p, int elements);
+int __wescore_lcm_msgs_RawMag_decode_array_cleanup(wescore_lcm_msgs_RawMag *p, int elements);
+int __wescore_lcm_msgs_RawMag_encoded_array_size(const wescore_lcm_msgs_RawMag *p, int elements);
+int __wescore_lcm_msgs_RawMag_clone_array(const wescore_lcm_msgs_RawMag *p, wescore_lcm_msgs_RawMag *q, int elements);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif

scout_base/include/lcmtypes/wescore_lcm_msgs_Vector2.h

@@ -0,0 +1,147 @@
+// THIS IS AN AUTOMATICALLY GENERATED FILE.  DO NOT MODIFY
+// BY HAND!!
+//
+// Generated by lcm-gen
+
+#ifndef _wescore_lcm_msgs_Vector2_h
+#define _wescore_lcm_msgs_Vector2_h
+
+#include <stdint.h>
+#include <stdlib.h>
+#include <lcm/lcm_coretypes.h>
+#include <lcm/lcm.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+typedef struct _wescore_lcm_msgs_Vector2 wescore_lcm_msgs_Vector2;
+struct _wescore_lcm_msgs_Vector2
+{
+    double     x;
+    double     y;
+};
+
+/**
+ * Create a deep copy of a wescore_lcm_msgs_Vector2.
+ * When no longer needed, destroy it with wescore_lcm_msgs_Vector2_destroy()
+ */
+wescore_lcm_msgs_Vector2* wescore_lcm_msgs_Vector2_copy(const wescore_lcm_msgs_Vector2* to_copy);
+
+/**
+ * Destroy an instance of wescore_lcm_msgs_Vector2 created by wescore_lcm_msgs_Vector2_copy()
+ */
+void wescore_lcm_msgs_Vector2_destroy(wescore_lcm_msgs_Vector2* to_destroy);
+
+/**
+ * Identifies a single subscription.  This is an opaque data type.
+ */
+typedef struct _wescore_lcm_msgs_Vector2_subscription_t wescore_lcm_msgs_Vector2_subscription_t;
+
+/**
+ * Prototype for a callback function invoked when a message of type
+ * wescore_lcm_msgs_Vector2 is received.
+ */
+typedef void(*wescore_lcm_msgs_Vector2_handler_t)(
+    const lcm_recv_buf_t *rbuf, const char *channel,
+    const wescore_lcm_msgs_Vector2 *msg, void *userdata);
+
+/**
+ * Publish a message of type wescore_lcm_msgs_Vector2 using LCM.
+ *
+ * @param lcm The LCM instance to publish with.
+ * @param channel The channel to publish on.
+ * @param msg The message to publish.
+ * @return 0 on success, <0 on error.  Success means LCM has transferred
+ * responsibility of the message data to the OS.
+ */
+int wescore_lcm_msgs_Vector2_publish(lcm_t *lcm, const char *channel, const wescore_lcm_msgs_Vector2 *msg);
+
+/**
+ * Subscribe to messages of type wescore_lcm_msgs_Vector2 using LCM.
+ *
+ * @param lcm The LCM instance to subscribe with.
+ * @param channel The channel to subscribe to.
+ * @param handler The callback function invoked by LCM when a message is
+ *     received. This function is invoked by LCM during calls to lcm_handle()
+ *     and lcm_handle_timeout().
+ * @param userdata An opaque pointer passed to @p handler when it is invoked.
+ * @return 0 on success, <0 if an error occured
+ */
+wescore_lcm_msgs_Vector2_subscription_t* wescore_lcm_msgs_Vector2_subscribe(
+    lcm_t *lcm, const char *channel, wescore_lcm_msgs_Vector2_handler_t handler, void *userdata);
+
+/**
+ * Removes and destroys a subscription created by wescore_lcm_msgs_Vector2_subscribe()
+ */
+int wescore_lcm_msgs_Vector2_unsubscribe(lcm_t *lcm, wescore_lcm_msgs_Vector2_subscription_t* hid);
+
+/**
+ * Sets the queue capacity for a subscription.
+ * Some LCM providers (e.g., the default multicast provider) are implemented
+ * using a background receive thread that constantly revceives messages from
+ * the network.  As these messages are received, they are buffered on
+ * per-subscription queues until dispatched by lcm_handle().  This function
+ * how many messages are queued before dropping messages.
+ *
+ * @param subs the subscription to modify.
+ * @param num_messages The maximum number of messages to queue
+ *  on the subscription.
+ * @return 0 on success, <0 if an error occured
+ */
+int wescore_lcm_msgs_Vector2_subscription_set_queue_capacity(
+    wescore_lcm_msgs_Vector2_subscription_t* subs, int num_messages);
+
+/**
+ * Encode a message of type wescore_lcm_msgs_Vector2 into binary form.
+ *
+ * @param buf The output buffer.
+ * @param offset Encoding starts at this byte offset into @p buf.
+ * @param maxlen Maximum number of bytes to write.  This should generally
+ *               be equal to wescore_lcm_msgs_Vector2_encoded_size().
+ * @param msg The message to encode.
+ * @return The number of bytes encoded, or <0 if an error occured.
+ */
+int wescore_lcm_msgs_Vector2_encode(void *buf, int offset, int maxlen, const wescore_lcm_msgs_Vector2 *p);
+
+/**
+ * Decode a message of type wescore_lcm_msgs_Vector2 from binary form.
+ * When decoding messages containing strings or variable-length arrays, this
+ * function may allocate memory.  When finished with the decoded message,
+ * release allocated resources with wescore_lcm_msgs_Vector2_decode_cleanup().
+ *
+ * @param buf The buffer containing the encoded message
+ * @param offset The byte offset into @p buf where the encoded message starts.
+ * @param maxlen The maximum number of bytes to read while decoding.
+ * @param msg Output parameter where the decoded message is stored
+ * @return The number of bytes decoded, or <0 if an error occured.
+ */
+int wescore_lcm_msgs_Vector2_decode(const void *buf, int offset, int maxlen, wescore_lcm_msgs_Vector2 *msg);
+
+/**
+ * Release resources allocated by wescore_lcm_msgs_Vector2_decode()
+ * @return 0
+ */
+int wescore_lcm_msgs_Vector2_decode_cleanup(wescore_lcm_msgs_Vector2 *p);
+
+/**
+ * Check how many bytes are required to encode a message of type wescore_lcm_msgs_Vector2
+ */
+int wescore_lcm_msgs_Vector2_encoded_size(const wescore_lcm_msgs_Vector2 *p);
+
+// LCM support functions. Users should not call these
+int64_t __wescore_lcm_msgs_Vector2_get_hash(void);
+uint64_t __wescore_lcm_msgs_Vector2_hash_recursive(const __lcm_hash_ptr *p);
+int __wescore_lcm_msgs_Vector2_encode_array(
+    void *buf, int offset, int maxlen, const wescore_lcm_msgs_Vector2 *p, int elements);
+int __wescore_lcm_msgs_Vector2_decode_array(
+    const void *buf, int offset, int maxlen, wescore_lcm_msgs_Vector2 *p, int elements);
+int __wescore_lcm_msgs_Vector2_decode_array_cleanup(wescore_lcm_msgs_Vector2 *p, int elements);
+int __wescore_lcm_msgs_Vector2_encoded_array_size(const wescore_lcm_msgs_Vector2 *p, int elements);
+int __wescore_lcm_msgs_Vector2_clone_array(const wescore_lcm_msgs_Vector2 *p, wescore_lcm_msgs_Vector2 *q, int elements);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif

scout_base/include/lcmtypes/wescore_lcm_msgs_Vector3.h

@@ -0,0 +1,148 @@
+// THIS IS AN AUTOMATICALLY GENERATED FILE.  DO NOT MODIFY
+// BY HAND!!
+//
+// Generated by lcm-gen
+
+#ifndef _wescore_lcm_msgs_Vector3_h
+#define _wescore_lcm_msgs_Vector3_h
+
+#include <stdint.h>
+#include <stdlib.h>
+#include <lcm/lcm_coretypes.h>
+#include <lcm/lcm.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+typedef struct _wescore_lcm_msgs_Vector3 wescore_lcm_msgs_Vector3;
+struct _wescore_lcm_msgs_Vector3
+{
+    double     x;
+    double     y;
+    double     z;
+};
+
+/**
+ * Create a deep copy of a wescore_lcm_msgs_Vector3.
+ * When no longer needed, destroy it with wescore_lcm_msgs_Vector3_destroy()
+ */
+wescore_lcm_msgs_Vector3* wescore_lcm_msgs_Vector3_copy(const wescore_lcm_msgs_Vector3* to_copy);
+
+/**
+ * Destroy an instance of wescore_lcm_msgs_Vector3 created by wescore_lcm_msgs_Vector3_copy()
+ */
+void wescore_lcm_msgs_Vector3_destroy(wescore_lcm_msgs_Vector3* to_destroy);
+
+/**
+ * Identifies a single subscription.  This is an opaque data type.
+ */
+typedef struct _wescore_lcm_msgs_Vector3_subscription_t wescore_lcm_msgs_Vector3_subscription_t;
+
+/**
+ * Prototype for a callback function invoked when a message of type
+ * wescore_lcm_msgs_Vector3 is received.
+ */
+typedef void(*wescore_lcm_msgs_Vector3_handler_t)(
+    const lcm_recv_buf_t *rbuf, const char *channel,
+    const wescore_lcm_msgs_Vector3 *msg, void *userdata);
+
+/**
+ * Publish a message of type wescore_lcm_msgs_Vector3 using LCM.
+ *
+ * @param lcm The LCM instance to publish with.
+ * @param channel The channel to publish on.
+ * @param msg The message to publish.
+ * @return 0 on success, <0 on error.  Success means LCM has transferred
+ * responsibility of the message data to the OS.
+ */
+int wescore_lcm_msgs_Vector3_publish(lcm_t *lcm, const char *channel, const wescore_lcm_msgs_Vector3 *msg);
+
+/**
+ * Subscribe to messages of type wescore_lcm_msgs_Vector3 using LCM.
+ *
+ * @param lcm The LCM instance to subscribe with.
+ * @param channel The channel to subscribe to.
+ * @param handler The callback function invoked by LCM when a message is
+ *     received. This function is invoked by LCM during calls to lcm_handle()
+ *     and lcm_handle_timeout().
+ * @param userdata An opaque pointer passed to @p handler when it is invoked.
+ * @return 0 on success, <0 if an error occured
+ */
+wescore_lcm_msgs_Vector3_subscription_t* wescore_lcm_msgs_Vector3_subscribe(
+    lcm_t *lcm, const char *channel, wescore_lcm_msgs_Vector3_handler_t handler, void *userdata);
+
+/**
+ * Removes and destroys a subscription created by wescore_lcm_msgs_Vector3_subscribe()
+ */
+int wescore_lcm_msgs_Vector3_unsubscribe(lcm_t *lcm, wescore_lcm_msgs_Vector3_subscription_t* hid);
+
+/**
+ * Sets the queue capacity for a subscription.
+ * Some LCM providers (e.g., the default multicast provider) are implemented
+ * using a background receive thread that constantly revceives messages from
+ * the network.  As these messages are received, they are buffered on
+ * per-subscription queues until dispatched by lcm_handle().  This function
+ * how many messages are queued before dropping messages.
+ *
+ * @param subs the subscription to modify.
+ * @param num_messages The maximum number of messages to queue
+ *  on the subscription.
+ * @return 0 on success, <0 if an error occured
+ */
+int wescore_lcm_msgs_Vector3_subscription_set_queue_capacity(
+    wescore_lcm_msgs_Vector3_subscription_t* subs, int num_messages);
+
+/**
+ * Encode a message of type wescore_lcm_msgs_Vector3 into binary form.
+ *
+ * @param buf The output buffer.
+ * @param offset Encoding starts at this byte offset into @p buf.
+ * @param maxlen Maximum number of bytes to write.  This should generally
+ *               be equal to wescore_lcm_msgs_Vector3_encoded_size().
+ * @param msg The message to encode.
+ * @return The number of bytes encoded, or <0 if an error occured.
+ */
+int wescore_lcm_msgs_Vector3_encode(void *buf, int offset, int maxlen, const wescore_lcm_msgs_Vector3 *p);
+
+/**
+ * Decode a message of type wescore_lcm_msgs_Vector3 from binary form.
+ * When decoding messages containing strings or variable-length arrays, this
+ * function may allocate memory.  When finished with the decoded message,
+ * release allocated resources with wescore_lcm_msgs_Vector3_decode_cleanup().
+ *
+ * @param buf The buffer containing the encoded message
+ * @param offset The byte offset into @p buf where the encoded message starts.
+ * @param maxlen The maximum number of bytes to read while decoding.
+ * @param msg Output parameter where the decoded message is stored
+ * @return The number of bytes decoded, or <0 if an error occured.
+ */
+int wescore_lcm_msgs_Vector3_decode(const void *buf, int offset, int maxlen, wescore_lcm_msgs_Vector3 *msg);
+
+/**
+ * Release resources allocated by wescore_lcm_msgs_Vector3_decode()
+ * @return 0
+ */
+int wescore_lcm_msgs_Vector3_decode_cleanup(wescore_lcm_msgs_Vector3 *p);
+
+/**
+ * Check how many bytes are required to encode a message of type wescore_lcm_msgs_Vector3
+ */
+int wescore_lcm_msgs_Vector3_encoded_size(const wescore_lcm_msgs_Vector3 *p);
+
+// LCM support functions. Users should not call these
+int64_t __wescore_lcm_msgs_Vector3_get_hash(void);
+uint64_t __wescore_lcm_msgs_Vector3_hash_recursive(const __lcm_hash_ptr *p);
+int __wescore_lcm_msgs_Vector3_encode_array(
+    void *buf, int offset, int maxlen, const wescore_lcm_msgs_Vector3 *p, int elements);
+int __wescore_lcm_msgs_Vector3_decode_array(
+    const void *buf, int offset, int maxlen, wescore_lcm_msgs_Vector3 *p, int elements);
+int __wescore_lcm_msgs_Vector3_decode_array_cleanup(wescore_lcm_msgs_Vector3 *p, int elements);
+int __wescore_lcm_msgs_Vector3_encoded_array_size(const wescore_lcm_msgs_Vector3 *p, int elements);
+int __wescore_lcm_msgs_Vector3_clone_array(const wescore_lcm_msgs_Vector3 *p, wescore_lcm_msgs_Vector3 *q, int elements);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif

scout_base/include/scout_base/scout_messenger.hpp

@@ -14,26 +14,28 @@
 
 #include <ros/ros.h>
 #include <nav_msgs/Odometry.h>
-#include <tf/transform_broadcaster.h>
+// #include <tf/transform_broadcaster.h>
+#include <tf2_ros/transform_broadcaster.h>
 
 #include "scout_msgs/ScoutLightCmd.h"
-#include "scout/scout_base.hpp"
+#include "scout_sdk/scout_base.hpp"
 
 namespace wescore
 {
 class ScoutROSMessenger
 {
 public:
-    explicit ScoutROSMessenger(ros::NodeHandle nh);
+    explicit ScoutROSMessenger(ros::NodeHandle *nh);
-    ScoutROSMessenger(ScoutBase *scout, ros::NodeHandle nh);
+    ScoutROSMessenger(ScoutBase *scout, ros::NodeHandle *nh);
 
     std::string odom_frame_;
     std::string base_frame_;
 
-    bool simulated_robot_;
+    bool simulated_robot_ = false;
-    int sim_control_rate_;
+    int sim_control_rate_ = 50;
 
     void SetupSubscription();
+
     void PublishStateToROS();
     void PublishSimStateToROS(double linear, double angular);
 
@@ -41,7 +43,7 @@ public:
 
 private:
     ScoutBase *scout_;
-    ros::NodeHandle nh_;
+    ros::NodeHandle *nh_;
 
     std::mutex twist_mutex_;
     geometry_msgs::Twist current_twist_;
@@ -50,9 +52,8 @@ private:
     ros::Publisher status_publisher_;
     ros::Subscriber motion_cmd_subscriber_;
     ros::Subscriber light_cmd_subscriber_;
-    tf::TransformBroadcaster tf_broadcaster_;
+    tf2_ros::TransformBroadcaster tf_broadcaster_;
 
-private:
     // speed variables
     double linear_speed_ = 0.0;
     double angular_speed_ = 0.0;

scout_base/launch/robot_model.launch

@@ -0,0 +1,17 @@
+<launch>
+    <!--
+    <node name="scout_odom" pkg="scout_base" type="scout_base_node" output="screen">
+        <param name="port_name" type="string" value="can0" />
+
+        <param name="odom_frame" type="string" value="odom" />
+        <param name="base_frame" type="string" value="base_link" />
+
+        <param name="simulated_robot" type="bool" value="false" />
+    </node>
+    -->
+    <param name="robot_description" textfile="$(find scout_base)/urdf/agilex_scout.urdf" />
+
+    <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
+
+    <node name="rviz" pkg="rviz" type="rviz" required="true" args="-d $(find scout_viz)/rviz/scout_model.rviz" />
+</launch>

scout_base/launch/scout_base.launch

@@ -1,9 +1,9 @@
 <launch>
-    <node name="scout_odom" pkg="scout_base" type="scout_base_node" output="screen">
+    <node name="scout_base_node" pkg="scout_base" type="scout_base_node" output="screen">
         <param name="port_name" type="string" value="can0" />
 
         <param name="odom_frame" type="string" value="odom" />
-        <param name="base_frame" type="string" value="base_footprint" />
+        <param name="base_frame" type="string" value="base_link" />
 
         <param name="simulated_robot" type="bool" value="false" />
     </node>

scout_base/launch/scout_base_sim.launch

@@ -1,14 +0,0 @@
-<launch>
-
-    <node name="scout_odom" pkg="scout_vrep_sim" type="scout_base_sim" output="screen">
-        <param name="odom_frame" type="string" value="odom" />
-        <param name="base_frame" type="string" value="base_link" />
-        <param name="simulated_robot" type="bool" value="true" />
-        <param name="sim_control_rate" value="50" />
-    </node>
-
-    <!-- Differential controller parameters and basic localization -->
-    <!--
-    <include file="$(find scout_control)/launch/control.launch" />
-    -->
-</launch>

scout_base/launch/scout_nav_2d.launch

@@ -0,0 +1,52 @@
+<launch>
+    <node name="scout_base_node" pkg="scout_base" type="scout_base_node" output="screen">
+        <param name="port_name" type="string" value="can0" />
+
+        <param name="odom_frame" type="string" value="odom" />
+        <param name="base_frame" type="string" value="base_link" />
+
+        <param name="simulated_robot" type="bool" value="false" />
+    </node>
+
+    <node name="sensor_hub_raw_imu" pkg="scout_base" type="imu_broadcast_node" output="screen"/>
+    <include file="$(find scout_base)/launch/sensor_rslidar16.launch" />
+
+    <!--
+    <include file="$(find scout_base)/launch/sensor_d435i.launch" />
+    -->
+
+    <param name="robot_description" textfile="$(find scout_base)/urdf/agilex_scout.urdf" />
+    <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
+
+    <!--
+    <node pkg="tf2_ros" type="static_transform_publisher" name="lidar3d_tf_broadcaster" args="0.25 0 0.4 0 0 0 1 base_link rslidar" />
+    <node pkg="tf2_ros" type="static_transform_publisher" name="imu_tf_broadcaster" args="0.0 0 0.0 0 0 0 1 base_link imu" />
+    -->
+
+    <node name="pointcloud_to_laserscan" pkg="pointcloud_to_laserscan" type="pointcloud_to_laserscan_node">
+      <remap from="cloud_in" to="/rslidar_points"/>
+      <rosparam>
+        transform_tolerance: 0.01
+        min_height: 0.2
+        max_height: 0.5
+        
+        angle_min: -3.14
+        angle_max: 3.14
+        angle_increment: 0.01256
+        scan_time: 0.1
+        range_min: 0.2
+        range_max: 60.0
+        use_inf: true
+        
+        #concurrency_level affects number of pc queued for processing and the number of threadsused
+        # 0: Detect number of cores
+        # 1: Single threaded
+        # 2: inf : Parallelism level
+        concurrency_level: 1
+      </rosparam>
+    </node>
+
+    <!-- <param name="robot_description" textfile="$(find scout_base)/model/agilex_scout.urdf" /> 
+    <param name="robot_description" command="$(find xacro)/xacro '$(find scout_base)/model/scout.urdf.xacro'" />
+    <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" /> -->
+</launch>

scout_base/launch/scout_nav_3d.launch

@@ -0,0 +1,20 @@
+<launch>
+    <node name="scout_base_node" pkg="scout_base" type="scout_base_node" output="screen">
+        <param name="port_name" type="string" value="can0" />
+
+        <param name="odom_frame" type="string" value="odom" />
+        <param name="base_frame" type="string" value="base_link" />
+
+        <param name="simulated_robot" type="bool" value="false" />
+    </node>
+
+    <node name="sensor_hub_raw_imu" pkg="scout_base" type="imu_broadcast_node" output="screen"/>
+    <include file="$(find scout_base)/launch/sensor_rslidar16.launch" />
+
+    <!--
+    <include file="$(find scout_base)/launch/sensor_d435i.launch" />
+    -->
+
+    <param name="robot_description" textfile="$(find scout_base)/urdf/agilex_scout.urdf" />
+    <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
+</launch>

scout_base/launch/sensor_d435i.launch

@@ -0,0 +1,103 @@
+<launch>
+  <arg name="serial_no"           default=""/>
+  <arg name="json_file_path"      default=""/>
+  <arg name="camera"              default="camera"/>
+  <arg name="tf_prefix"           default="$(arg camera)"/>
+  <arg name="external_manager"    default="false"/>
+  <arg name="manager"             default="realsense2_camera_manager"/>
+
+  <arg name="fisheye_width"       default="640"/>
+  <arg name="fisheye_height"      default="480"/>
+  <arg name="enable_fisheye"      default="true"/>
+
+  <arg name="depth_width"         default="640"/>
+  <arg name="depth_height"        default="480"/>
+  <arg name="enable_depth"        default="true"/>
+
+  <arg name="infra_width"        default="640"/>
+  <arg name="infra_height"       default="480"/>
+  <arg name="enable_infra1"       default="true"/>
+  <arg name="enable_infra2"       default="true"/>
+
+  <arg name="color_width"         default="640"/>
+  <arg name="color_height"        default="480"/>
+  <arg name="enable_color"        default="true"/>
+
+  <arg name="fisheye_fps"         default="30"/>
+  <arg name="depth_fps"           default="30"/>
+  <arg name="infra_fps"           default="30"/>
+  <arg name="color_fps"           default="30"/>
+  <arg name="gyro_fps"            default="400"/>
+  <arg name="accel_fps"           default="250"/>
+  <arg name="enable_gyro"         default="true"/>
+  <arg name="enable_accel"        default="true"/>
+
+  <arg name="enable_pointcloud"         default="false"/>
+  <arg name="pointcloud_texture_stream" default="RS2_STREAM_COLOR"/>
+  <arg name="pointcloud_texture_index"  default="0"/>
+
+  <arg name="enable_sync"               default="true"/>
+  <arg name="align_depth"               default="false"/>
+
+  <arg name="filters"                   default=""/>
+  <arg name="clip_distance"             default="-2"/>
+  <arg name="linear_accel_cov"          default="0.01"/>
+  <arg name="initial_reset"             default="false"/>
+  <arg name="unite_imu_method"          default="linear_interpolation"/>
+  <arg name="topic_odom_in"             default="odom_in"/>
+  <arg name="calib_odom_file"           default=""/>
+  <arg name="publish_odom_tf"           default="true"/>
+  <arg name="allow_no_texture_points"   default="false"/>
+
+  <group ns="$(arg camera)">
+    <include file="$(find realsense2_camera)/launch/includes/nodelet.launch.xml">
+      <arg name="tf_prefix"                value="$(arg tf_prefix)"/>
+      <arg name="external_manager"         value="$(arg external_manager)"/>
+      <arg name="manager"                  value="$(arg manager)"/>
+      <arg name="serial_no"                value="$(arg serial_no)"/>
+      <arg name="json_file_path"           value="$(arg json_file_path)"/>
+
+      <arg name="enable_pointcloud"        value="$(arg enable_pointcloud)"/>
+      <arg name="pointcloud_texture_stream" value="$(arg pointcloud_texture_stream)"/>
+      <arg name="pointcloud_texture_index"  value="$(arg pointcloud_texture_index)"/>
+      <arg name="enable_sync"              value="$(arg enable_sync)"/>
+      <arg name="align_depth"              value="$(arg align_depth)"/>
+
+      <arg name="fisheye_width"            value="$(arg fisheye_width)"/>
+      <arg name="fisheye_height"           value="$(arg fisheye_height)"/>
+      <arg name="enable_fisheye"           value="$(arg enable_fisheye)"/>
+
+      <arg name="depth_width"              value="$(arg depth_width)"/>
+      <arg name="depth_height"             value="$(arg depth_height)"/>
+      <arg name="enable_depth"             value="$(arg enable_depth)"/>
+
+      <arg name="color_width"              value="$(arg color_width)"/>
+      <arg name="color_height"             value="$(arg color_height)"/>
+      <arg name="enable_color"             value="$(arg enable_color)"/>
+
+      <arg name="infra_width"              value="$(arg infra_width)"/>
+      <arg name="infra_height"             value="$(arg infra_height)"/>
+      <arg name="enable_infra1"            value="$(arg enable_infra1)"/>
+      <arg name="enable_infra2"            value="$(arg enable_infra2)"/>
+
+      <arg name="fisheye_fps"              value="$(arg fisheye_fps)"/>
+      <arg name="depth_fps"                value="$(arg depth_fps)"/>
+      <arg name="infra_fps"                value="$(arg infra_fps)"/>
+      <arg name="color_fps"                value="$(arg color_fps)"/>
+      <arg name="gyro_fps"                 value="$(arg gyro_fps)"/>
+      <arg name="accel_fps"                value="$(arg accel_fps)"/>
+      <arg name="enable_gyro"              value="$(arg enable_gyro)"/>
+      <arg name="enable_accel"             value="$(arg enable_accel)"/>
+
+      <arg name="filters"                  value="$(arg filters)"/>
+      <arg name="clip_distance"            value="$(arg clip_distance)"/>
+      <arg name="linear_accel_cov"         value="$(arg linear_accel_cov)"/>
+      <arg name="initial_reset"            value="$(arg initial_reset)"/>
+      <arg name="unite_imu_method"         value="$(arg unite_imu_method)"/>
+      <arg name="topic_odom_in"            value="$(arg topic_odom_in)"/>
+      <arg name="calib_odom_file"          value="$(arg calib_odom_file)"/>
+      <arg name="publish_odom_tf"          value="$(arg publish_odom_tf)"/>
+      <arg name="allow_no_texture_points"  value="$(arg allow_no_texture_points)"/>
+    </include>
+  </group>
+</launch>

scout_base/launch/sensor_rs16_filter.launch

@@ -0,0 +1,31 @@
+<!--
+  Copyright 2016 The Cartographer Authors
+
+  Licensed under the Apache License, Version 2.0 (the "License");
+  you may not use this file except in compliance with the License.
+  You may obtain a copy of the License at
+
+       http://www.apache.org/licenses/LICENSE-2.0
+
+  Unless required by applicable law or agreed to in writing, software
+  distributed under the License is distributed on an "AS IS" BASIS,
+  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+  See the License for the specific language governing permissions and
+  limitations under the License.
+-->
+
+<launch>
+  <node pkg="nodelet" type="nodelet" name="pcl_manager" args="manager" output="screen" />
+
+  <!-- Run a passthrough filter on the z axis -->
+  <node pkg="nodelet" type="nodelet" name="passthrough_z" args="load pcl/PassThrough pcl_manager" output="screen">
+    <remap from="~input" to="/rslidar_points" />
+    <remap from="~output" to="/points2" />
+    <rosparam>
+      filter_field_name: z
+      filter_limit_min: -0.8
+      filter_limit_max: 1.0
+      filter_limit_negative: False
+    </rosparam>
+  </node>
+</launch>

scout_base/launch/sensor_rslidar16.launch

@@ -0,0 +1,40 @@
+<launch>
+  <arg name="model" default="RS16" />
+  <!--
+  <arg name="device_ip" default="192.168.1.200" />
+  -->
+  <arg name="device_ip" default="10.7.5.103" />
+  <arg name="msop_port" default="6699" />
+  <arg name="difop_port" default="7788" />
+  <arg name="rpm" default="1200" />
+  <arg name="cut_angle" default="0" doc="If set at [0, 360), cut at specific angle feature activated, otherwise use the fixed packets number mode."/>
+  <arg name="lidar_param_path" default="$(find rslidar_pointcloud)/data/rs_lidar_16/"/>
+
+  <node  name="rslidar_node" pkg="rslidar_driver" type="rslidar_node" output="screen" >
+    <param name="model" value="$(arg model)"/>
+    <param name="device_ip" value="$(arg device_ip)" />
+    <param name="msop_port" value="$(arg msop_port)" />
+    <param name="difop_port" value="$(arg difop_port)"/>
+    <param name="cut_angle" value="$(arg cut_angle)"/>
+    <param name="rpm" value="$(arg rpm)"/>
+    <!--param name="pcap" value="path_to_pcap"/-->
+  </node>
+
+  <node  name="cloud_node" pkg="rslidar_pointcloud" type="cloud_node" output="screen" >
+    <param name="model" value="$(arg model)"/>
+    <param name="curves_path" value="$(arg lidar_param_path)/curves.csv" />
+    <param name="angle_path" value="$(arg lidar_param_path)/angle.csv" />
+    <param name="channel_path" value="$(arg lidar_param_path)/ChannelNum.csv" />
+    <param name="max_distance" value="200"/>
+    <param name="min_distance" value="0.4"/>
+    <param name="resolution_type" value="0.5cm"/>
+    <param name="intensity_mode" value="1"/>
+    <!-- remap from="rslidar_points" to="points2" /--> 
+  </node>
+
+  <include file="$(find scout_base)/launch/sensor_rs16_filter.launch" />
+
+  <!--
+  <node name="rviz" pkg="rviz" type="rviz"  args="-d $(find rslidar_pointcloud)/rviz_cfg/rslidar.rviz" />
+  -->
+</launch>

scout_base/package.xml

@@ -14,24 +14,18 @@
   <url type="repository">TODO</url>
 
   <buildtool_depend>catkin</buildtool_depend>
-  <build_depend>controller_manager</build_depend>
-  <build_depend>hardware_interface</build_depend>
   <build_depend>scout_msgs</build_depend>
   <build_depend>roscpp</build_depend>
   <build_depend>roslaunch</build_depend>
   <build_depend>roslint</build_depend>
   <build_depend>sensor_msgs</build_depend>
-
+  <build_depend>scout_sdk</build_depend>
   <run_depend>controller_manager</run_depend>
-  <run_depend>diff_drive_controller</run_depend>
   <run_depend>geometry_msgs</run_depend>
-  <run_depend>hardware_interface</run_depend>
-  <run_depend>scout_control</run_depend>
   <run_depend>scout_msgs</run_depend>
-  <run_depend>scout_description</run_depend>
   <run_depend>roscpp</run_depend>
   <run_depend>sensor_msgs</run_depend>
   <run_depend>topic_tools</run_depend>
-
+  <run_depend>scout_sdk</run_depend>
   <export></export>
 </package>

scout_base/src/imu_broadcast_node.cpp

@@ -0,0 +1,72 @@
+/* 
+ * imu_broadcast_node.cpp
+ * 
+ * Created on: Oct 02, 2019 19:09
+ * Description: 
+ * 
+ * Copyright (c) 2019 Ruixiang Du (rdu)
+ */
+
+#include <string>
+
+#include <lcm/lcm-cpp.hpp>
+#include "lcmtypes/wescore.hpp"
+
+#include <ros/ros.h>
+#include <sensor_msgs/Imu.h>
+
+ros::Publisher imu_pub;
+
+struct MessageBroadcaster
+{
+    void IMULCMCallback(const lcm::ReceiveBuffer *rbuf, const std::string &chan, const wescore_lcm_msgs::IMU *msg)
+    {
+        static uint64_t count = 0;
+        // std::cout << "imu msg received" << std::endl;
+        sensor_msgs::Imu imu_msg;
+        imu_msg.header.frame_id = "imu_link";
+        imu_msg.header.stamp = ros::Time::now();
+        imu_msg.header.seq = count++;
+
+        imu_msg.angular_velocity.x = msg->angular_velocity.x;
+        imu_msg.angular_velocity.y = msg->angular_velocity.y;
+        imu_msg.angular_velocity.z = msg->angular_velocity.z;
+
+        imu_msg.linear_acceleration.x = msg->linear_acceleration.x;
+        imu_msg.linear_acceleration.y = msg->linear_acceleration.y;
+        imu_msg.linear_acceleration.z = msg->linear_acceleration.z;
+
+        for (int i = 0; i < 9; ++i)
+        {
+            imu_msg.orientation_covariance[i] = msg->orientation_covariance[i];
+            imu_msg.angular_velocity_covariance[i] = msg->angular_velocity_covariance[i];
+            imu_msg.linear_acceleration_covariance[i] = msg->linear_acceleration_covariance[i];
+        }
+
+        imu_pub.publish(imu_msg);
+    }
+};
+
+int main(int argc, char **argv)
+{
+    // setup LCM
+    lcm::LCM lcm;
+
+    if (!lcm.good())
+        return 1;
+    MessageBroadcaster mb;
+    lcm.subscribe("sensor_hub_raw_imu", &MessageBroadcaster::IMULCMCallback, &mb);
+
+    // setup ROS node
+    ros::init(argc, argv, "imu_broadcast_node");
+    ros::NodeHandle nh;
+    imu_pub = nh.advertise<sensor_msgs::Imu>("imu", 1000);
+
+    ROS_INFO("Started broadcasting");
+    while (ros::ok())
+    {
+        lcm.handleTimeout(5);
+    }
+
+    return 0;
+}

scout_base/src/scout_base_node.cpp

@@ -1,12 +1,11 @@
 #include <string>
-#include <boost/thread.hpp>
 
 #include <ros/ros.h>
 #include <sensor_msgs/JointState.h>
 #include <tf/transform_broadcaster.h>
 #include <nav_msgs/Odometry.h>
 
-#include "scout/scout_base.hpp"
+#include "scout_sdk/scout_base.hpp"
 #include "scout_base/scout_messenger.hpp"
 
 using namespace wescore;
@@ -15,30 +14,29 @@ int main(int argc, char **argv)
 {
     // setup ROS node
     ros::init(argc, argv, "scout_odom");
-    ros::NodeHandle node("scout_robot"), private_node("~");
+    ros::NodeHandle node(""), private_node("~");
 
     // instantiate a robot
     ScoutBase robot;
-    ScoutROSMessenger messenger(&robot, node);
+    ScoutROSMessenger messenger(&robot, &node);
 
     std::string scout_can_port;
-    private_node.param<std::string>("port_name", scout_can_port, std::string("can1"));
+    private_node.param<std::string>("port_name", scout_can_port, std::string("can0"));
     private_node.param<std::string>("odom_frame", messenger.odom_frame_, std::string("odom"));
-    private_node.param<std::string>("base_frame", messenger.base_frame_, std::string("base_footprint"));
+    private_node.param<std::string>("base_frame", messenger.base_frame_, std::string("base_link"));
     private_node.param<bool>("simulated_robot", messenger.simulated_robot_, false);
 
     // connect to scout and setup ROS subscription
-    robot.ConnectCANBus(scout_can_port);
+    robot.Connect(scout_can_port);
-    robot.StartCmdThread(10);
     messenger.SetupSubscription();
 
     // publish robot state at 20Hz while listening to twist commands
-    ros::Rate rt(20); // 20Hz
+    ros::Rate rate_20hz(20); // 20Hz
     while (true)
     {
         messenger.PublishStateToROS();
         ros::spinOnce();
-        rt.sleep();
+        rate_20hz.sleep();
     }
 
     return 0;

scout_base/src/scout_messenger.cpp

@@ -9,27 +9,29 @@
 
 #include "scout_base/scout_messenger.hpp"
 
+#include <tf/transform_broadcaster.h>
+
 #include "scout_msgs/ScoutStatus.h"
 
 namespace wescore
 {
-ScoutROSMessenger::ScoutROSMessenger(ros::NodeHandle nh) : scout_(nullptr), nh_(nh)
+ScoutROSMessenger::ScoutROSMessenger(ros::NodeHandle *nh) : scout_(nullptr), nh_(nh)
 {
 }
 
-ScoutROSMessenger::ScoutROSMessenger(ScoutBase *scout, ros::NodeHandle nh) : scout_(scout), nh_(nh)
+ScoutROSMessenger::ScoutROSMessenger(ScoutBase *scout, ros::NodeHandle *nh) : scout_(scout), nh_(nh)
 {
 }
 
 void ScoutROSMessenger::SetupSubscription()
 {
     // odometry publisher
-    odom_publisher_ = nh_.advertise<nav_msgs::Odometry>(odom_frame_, 50);
+    odom_publisher_ = nh_->advertise<nav_msgs::Odometry>(odom_frame_, 50);
-    status_publisher_ = nh_.advertise<scout_msgs::ScoutStatus>("/scout_status", 10);
+    status_publisher_ = nh_->advertise<scout_msgs::ScoutStatus>("/scout_status", 10);
 
     // cmd subscriber
-    motion_cmd_subscriber_ = nh_.subscribe<geometry_msgs::Twist>("/cmd_vel", 5, &ScoutROSMessenger::TwistCmdCallback, this); //不启用平滑包则订阅“cmd_vel”
+    motion_cmd_subscriber_ = nh_->subscribe<geometry_msgs::Twist>("/cmd_vel", 5, &ScoutROSMessenger::TwistCmdCallback, this); //不启用平滑包则订阅“cmd_vel”
-    light_cmd_subscriber_ = nh_.subscribe<scout_msgs::ScoutLightCmd>("/scout_light_control", 5, &ScoutROSMessenger::LightCmdCallback, this);
+    light_cmd_subscriber_ = nh_->subscribe<scout_msgs::ScoutLightCmd>("/scout_light_control", 5, &ScoutROSMessenger::LightCmdCallback, this);
 }
 
 void ScoutROSMessenger::TwistCmdCallback(const geometry_msgs::Twist::ConstPtr &msg)
@@ -37,13 +39,13 @@ void ScoutROSMessenger::TwistCmdCallback(const geometry_msgs::Twist::ConstPtr &m
     if (!simulated_robot_)
     {
         scout_->SetMotionCommand(msg->linear.x, msg->angular.z);
-        // ROS_INFO("cmd received:%f, %f", msg->linear.x, msg->angular.z);
     }
     else
     {
         std::lock_guard<std::mutex> guard(twist_mutex_);
         current_twist_ = *msg.get();
     }
+    // ROS_INFO("cmd received:%f, %f", msg->linear.x, msg->angular.z);
 }
 
 void ScoutROSMessenger::GetCurrentMotionCmdForSim(double &linear, double &angular)

scout_base/src/scout_sdk/CMakeLists.txt

@@ -1,50 +0,0 @@
-cmake_minimum_required(VERSION 3.1.0)
-project(scout_sdk)
-
-# generate symbols for IDE indexer
-set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
-set(RUNTIME_OUTPUT_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/devel)
-
-## Set compiler to use c++ 11 features
-set(CMAKE_CXX_STANDARD 11)
-set(CMAKE_CXX_STANDARD_REQUIRED ON)
-set(CMAKE_CXX_EXTENSIONS OFF)
-
-## Put all binary files into /bin and libraries into /lib
-set(EXECUTABLE_OUTPUT_PATH ${CMAKE_BINARY_DIR}/bin)
-set(LIBRARY_OUTPUT_PATH ${CMAKE_BINARY_DIR}/lib)
-set(ARCHIVE_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/lib)
-
-## Use GNUInstallDirs to install libraries into correct
-# locations on all platforms.
-include(GNUInstallDirs)
-
-## Chosse build type
-set(CMAKE_BUILD_TYPE Release)
-# set(CMAKE_BUILD_TYPE Debug)
-
-set(default_build_type "Release")
-if(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES)
-  message(STATUS "Setting build type to '${default_build_type}' as none was specified.")
-  set(CMAKE_BUILD_TYPE "${default_build_type}" CACHE
-      STRING "Choose the type of build." FORCE)
-  # Set the possible values of build type for cmake-gui
-  set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS
-    "Debug" "Release" "MinSizeRel" "RelWithDebInfo")
-endif()
-
-## Optionally built modules: ON/OFF
-set(BUILD_TESTS OFF)
-set(BUILD_MONITOR ON)
-
-# Disable monitor if ncurses library is not found
-set(CURSES_NEED_NCURSES TRUE)
-find_package(Curses QUIET)
-
-if(BUILD_MONITOR AND NOT CURSES_FOUND)
-    set(BUILD_MONITOR OFF)
-    message(STATUS "Monitor app will not be built due to missing ncurses library, try: sudo apt install libncurses5-dev")
-endif()
-
-## Add source directories
-add_subdirectory(src)

scout_base/src/scout_sdk/scripts/remote_ws/beaglebone_black.code-workspace

@@ -1,6 +0,0 @@
-{
-    "folders": [{
-        "uri": "sftp://rdu:rdu3317*@192.168.7.2/home/rdu/Workspace/scout_sdk",
-        "name": "Scout SDK Workspace"
-    }]
-}

scout_base/src/scout_sdk/src/CMakeLists.txt

@@ -1,8 +0,0 @@
-# Add source directories
-add_subdirectory(demo)
-add_subdirectory(sdk_core)
-add_subdirectory(third_party)
-
-if(BUILD_MONITOR)
-add_subdirectory(monitor)
-endif()

scout_base/src/scout_sdk/src/demo/CMakeLists.txt

@@ -1,6 +0,0 @@
-# Dependency libraries
-#find_package(LIBRARY_NAME REQUIRED)
-
-# tests
-add_executable(demo_scout_can demo_scout_can.cpp)
-target_link_libraries(demo_scout_can scoutbase)

scout_base/src/scout_sdk/src/demo/demo_scout_can.cpp

@@ -1,42 +0,0 @@
-/* 
- * demo_scout_can.cpp
- * 
- * Created on: Jun 12, 2019 05:03
- * Description: 
- * 
- * Copyright (c) 2019 Ruixiang Du (rdu)
- */ 
-
-#include "scout/scout_base.hpp"
-
-using namespace wescore;
-
-int main(int argc, char **argv)
-{
-    ScoutBase scout;
-    scout.ConnectCANBus("can0");
-    scout.StartCmdThread(10);
-
-    scout.SetLightCommand({ScoutLightCmd::LightMode::CONST_ON, 0, ScoutLightCmd::LightMode::CONST_ON, 0});
-
-    int count = 0;
-    while (true)
-    {
-        scout.SetMotionCommand(0.5, 0.2);
-
-        if (count == 10)
-            scout.SetLightCommand({ScoutLightCmd::LightMode::CONST_OFF, 0, ScoutLightCmd::LightMode::CONST_OFF, 0});
-
-        auto state = scout.GetScoutState();
-        std::cout << "-------------------------------" << std::endl;
-        std::cout << "control mode: " << static_cast<int>(state.control_mode) << " , base state: " << static_cast<int>(state.base_state) << std::endl;
-        std::cout << "battery voltage: " << state.battery_voltage << std::endl;
-        std::cout << "velocity (linear, angular): " << state.linear_velocity << ", " << state.angular_velocity << std::endl;
-        std::cout << "-------------------------------" << std::endl;
-
-        sleep(1);
-        ++count;
-    }
-
-    return 0;
-}

scout_base/src/scout_sdk/src/monitor/CMakeLists.txt

@@ -1,24 +0,0 @@
-# Dependency libraries
-set(CURSES_NEED_NCURSES TRUE)
-find_package(Curses REQUIRED)
-
-# Add libraries
-set(SCOUT_MONITOR_SRC
-    src/nshapes.cpp
-    src/ncolors.cpp
-    src/scout_monitor.cpp
-)
-add_library(monitor STATIC ${SCOUT_MONITOR_SRC})
-target_link_libraries(monitor scoutbase ${CURSES_LIBRARIES})
-target_include_directories(monitor PUBLIC
-	$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-    $<BUILD_INTERFACE:${CURSES_INCLUDE_DIR}>
-	$<INSTALL_INTERFACE:include>
-	PRIVATE src)
-
-add_subdirectory(app)
-
-# Add executables
-if(BUILD_TESTS)
-	add_subdirectory(tests)
-endif()

scout_base/src/scout_sdk/src/monitor/app/CMakeLists.txt

@@ -1,3 +0,0 @@
-# Add executables
-add_executable(scout_monitor app_scout_monitor.cpp)
-target_link_libraries(scout_monitor monitor)

scout_base/src/scout_sdk/src/monitor/app/app_scout_monitor.cpp

@@ -1,31 +0,0 @@
-#include <signal.h>
-#include <stdlib.h>
-#include <stdio.h>
-#include <unistd.h>
-#include <iostream>
-
-#include "monitor/scout_monitor.hpp"
-
-using namespace wescore;
-
-int main(int argc, char **argv)
-{
-    std::string device_name;
-
-    if (argc == 2)
-    {
-        device_name = {argv[1]};
-        std::cout << "Specified device: " << device_name << std::endl;
-    }
-    else
-    {
-        std::cout << "Usage: app_scout_monitor <interface>" << std::endl
-                  << "Example: ./app_scout_monitor can1" << std::endl;
-        return -1;
-    }
-
-    ScoutMonitor monitor;
-    monitor.Run(device_name);
-
-    return 0;
-}

scout_base/src/scout_sdk/src/monitor/include/monitor/ncolors.hpp

@@ -1,67 +0,0 @@
-/* 
- * ncolors.hpp
- * 
- * Created on: Jun 20, 2019 06:22
- * Description: 
- * 
- * Original source: https://www.linuxjournal.com/content/about-ncurses-colors-0
- * This copy is based on the original implementation, modified and 
- *  maintained by Ruixiang.
- * 
- * Copyright (c) 2018 Jim Hall
- * Copyright (c) 2019 Ruixiang Du (rdu)
- */
-
-#ifndef NCOLORS_HPP
-#define NCOLORS_HPP
-
-#include <ncurses.h>
-
-namespace wescore
-{
-struct NColors
-{
-    enum BackgroundColor
-    {
-        BLACK = 0,
-        BLUE,
-        GREEN,
-        CYAN,
-        RED,
-        MAGENTA,
-        YELLOW,
-        WHITE
-    };
-
-    enum ForegroundColor
-    {
-        /*
-        BLACK = 0,
-        BLUE,
-        GREEN,
-        CYAN,
-        RED,
-        MAGENTA,
-        YELLOW,
-        WHITE,*/
-        BRIGHT_BLACK = 8,
-        BRIGHT_BLUE,
-        BRIGHT_GREEN,
-        BRIGHT_CYAN,
-        BRIGHT_RED,
-        BRIGHT_MAGENTA,
-        BRIGHT_YELLOW,
-        BRIGHT_WHITE
-    };
-
-    static void InitColors();
-
-    static void SetColor(int fg, int bg = BLACK);
-    static void UnsetColor(int fg, int bg = BLACK);
-    
-    static void WSetColor(WINDOW *win, int fg, int bg = BLACK);
-    static void WUnsetColor(WINDOW *win, int fg, int bg = BLACK);
-};
-} // namespace wescore
-
-#endif /* NCOLORS_HPP */

scout_base/src/scout_sdk/src/monitor/include/monitor/nshapes.hpp

@@ -1,24 +0,0 @@
-/* 
- * nshapes.hpp
- * 
- * Created on: Jun 20, 2019 06:21
- * Description: 
- * 
- * Copyright (c) 2019 Ruixiang Du (rdu)
- */
-
-#ifndef NSHAPES_HPP
-#define NSHAPES_HPP
-
-#include <ncurses.h>
-
-namespace wescore
-{
-struct NShapes
-{
-    static void DrawRectangle(int tl_y, int tl_x, int br_y, int br_x);
-    static void WDrawRectangle(WINDOW *win, int tl_y, int tl_x, int br_y, int br_x);
-};
-} // namespace wescore
-
-#endif /* NSHAPES_HPP */

scout_base/src/scout_sdk/src/monitor/include/monitor/scout_monitor.hpp

@@ -1,79 +0,0 @@
-/* 
- * scout_monitor.hpp
- * 
- * Created on: Jun 12, 2019 01:19
- * Description: 
- * 
- * Copyright (c) 2019 Ruixiang Du (rdu)
- */
-
-#ifndef SCOUT_MONITOR_HPP
-#define SCOUT_MONITOR_HPP
-
-#include "scout/scout_base.hpp"
-#include "scout/scout_state.hpp"
-
-#include <ncurses.h>
-
-namespace wescore
-{
-class ScoutMonitor
-{
-public:
-    ScoutMonitor();
-    ~ScoutMonitor();
-
-    void Run(std::string device_name = "");
-    void Terminate() { keep_running_ = false; }
-
-private:
-    bool keep_running_ = true;
-    bool test_mode_ = true;
-
-    int term_sx_ = -1;
-    int term_sy_ = -1;
-
-    WINDOW *body_info_win_;
-    int bi_win_sx_;
-    int bi_win_sy_;
-    int bi_origin_x_;
-    int bi_origin_y_;
-
-    WINDOW *system_info_win_;
-    int si_win_sx_;
-    int si_win_sy_;
-    int si_origin_x_;
-    int si_origin_y_;
-
-    WINDOW *scout_cmd_win_;
-
-    ScoutBase scout_base_;
-    ScoutState scout_state_;
-
-    const int linear_axis_length_ = 5;
-    const int angular_axis_length_ = 5;
-
-    const int vehicle_fp_offset_x_ = 9;
-    const int vehicle_fp_offset_y_ = 9;
-
-    bool resizing_detected_;
-
-    void UpdateAll();
-    void ClearAll();
-
-    void CalcDimensions();
-    void HandleResizing();
-
-    void SetTestStateData();
-    void ShowVehicleState(int y, int x);
-    void ShowStatusItemName(int y, int x, std::string name);
-    void ShowFault(int y, int x, bool no_fault);
-    void ShowMotorInfo(int y, int x, double cur, int rpm, int temp, bool is_right);
-
-    void UpdateScoutBodyInfo();
-    void UpdateScoutSystemInfo();
-    void UpdateScoutCmdWindow();
-};
-} // namespace wescore
-
-#endif /* SCOUT_MONITOR_HPP */

scout_base/src/scout_sdk/src/monitor/src/ncolors.cpp

@@ -1,114 +0,0 @@
-/* 
- * ncolors.cpp
- * 
- * Created on: Jun 20, 2019 06:22
- * Description: 
- * 
- * Copyright (c) 2019 Ruixiang Du (rdu)
- */
-
-#include "monitor/ncolors.hpp"
-
-#include <iostream>
-
-namespace
-{
-int IsBold(int fg)
-{
-    /* return the intensity bit */
-
-    int i;
-
-    i = 1 << 3;
-    return (i & fg);
-}
-
-int ColorNum(int fg, int bg)
-{
-    int B, bbb, ffff;
-
-    B = 1 << 7;
-    bbb = (7 & bg) << 4;
-    ffff = 7 & fg;
-
-    return (B | bbb | ffff);
-}
-
-short CursorColor(int fg)
-{
-    switch (7 & fg)
-    {       /* RGB */
-    case 0: /* 000 */
-        return (COLOR_BLACK);
-    case 1: /* 001 */
-        return (COLOR_BLUE);
-    case 2: /* 010 */
-        return (COLOR_GREEN);
-    case 3: /* 011 */
-        return (COLOR_CYAN);
-    case 4: /* 100 */
-        return (COLOR_RED);
-    case 5: /* 101 */
-        return (COLOR_MAGENTA);
-    case 6: /* 110 */
-        return (COLOR_YELLOW);
-    case 7: /* 111 */
-        return (COLOR_WHITE);
-    }
-}
-} // namespace
-
-namespace wescore
-{
-void NColors::InitColors()
-{
-    if (has_colors() != FALSE)
-        start_color();
-    else
-        std::cerr << "Your terminal does not support color" << std::endl;
-
-    int fg, bg;
-    int colorpair;
-
-    for (bg = 0; bg <= 7; bg++)
-    {
-        for (fg = 0; fg <= 7; fg++)
-        {
-            colorpair = ColorNum(fg, bg);
-            init_pair(colorpair, CursorColor(fg), CursorColor(bg));
-        }
-    }
-}
-
-void NColors::SetColor(int fg, int bg)
-{
-    // set the color pair (ColorNum) and bold/bright (A_BOLD)
-    attron(COLOR_PAIR(ColorNum(fg, bg)));
-    if (IsBold(fg))
-        attron(A_BOLD);
-}
-
-void NColors::UnsetColor(int fg, int bg)
-{
-    // unset the color pair (ColorNum) and bold/bright (A_BOLD)
-    attroff(COLOR_PAIR(ColorNum(fg, bg)));
-    if (IsBold(fg))
-        attroff(A_BOLD);
-}
-
-void NColors::WSetColor(WINDOW *win, int fg, int bg)
-{
-    // set the color pair (ColorNum) and bold/bright (A_BOLD)
-    wattron(win, COLOR_PAIR(ColorNum(fg, bg)));
-    if (IsBold(fg))
-        wattron(win, A_BOLD);
-}
-
-void NColors::WUnsetColor(WINDOW *win, int fg, int bg)
-{
-    // unset the color pair (ColorNum) and bold/bright (A_BOLD)
-    wattroff(win, COLOR_PAIR(ColorNum(fg, bg)));
-    if (IsBold(fg))
-        wattroff(win, A_BOLD);
-}
-} // namespace wescore

scout_base/src/scout_sdk/src/monitor/src/nshapes.cpp

@@ -1,41 +0,0 @@
-/* 
- * nshapers.cpp
- * 
- * Created on: Jun 20, 2019 06:21
- * Description: 
- * 
- * Copyright (c) 2019 Ruixiang Du (rdu)
- */
-
-#include "monitor/nshapes.hpp"
-
-namespace wescore
-{
-void NShapes::DrawRectangle(int tl_y, int tl_x, int br_y, int br_x)
-{
-    for (int i = tl_y; i <= br_y; ++i)
-    {
-        mvprintw(i, tl_x, "|");
-        mvprintw(i, br_x, "|");
-    }
-    for (int i = tl_x; i <= br_x; ++i)
-    {
-        mvprintw(tl_y, i, "-");
-        mvprintw(br_y, i, "-");
-    }
-}
-
-void NShapes::WDrawRectangle(WINDOW *win, int tl_y, int tl_x, int br_y, int br_x)
-{
-    for (int i = tl_y; i <= br_y; ++i)
-    {
-        mvwprintw(win, i, tl_x, "|");
-        mvwprintw(win, i, br_x, "|");
-    }
-    for (int i = tl_x; i <= br_x; ++i)
-    {
-        mvwprintw(win, tl_y, i, "-");
-        mvwprintw(win, br_y, i, "-");
-    }
-}
-} // namespace wescore

scout_base/src/scout_sdk/src/monitor/src/scout_monitor.cpp

@@ -1,654 +0,0 @@
-/* 
- * scout_monitor.cpp
- * 
- * Created on: Jun 12, 2019 01:19
- * Description: 
- * 
- * Copyright (c) 2019 Ruixiang Du (rdu)
- */
-
-/*
- * Coordinate System:
- *
- *		o --------------------> x
- *		|
- *		|
- *		|
- *		|
- *		|
- *		|
- *		v
- *		y
- */
-
-#include "monitor/scout_monitor.hpp"
-
-#include <cmath>
-#include <iostream>
-#include <sstream>
-#include <iomanip>
-
-#include <algorithm>
-#include <array>
-#include <chrono>
-#include <cstdint>
-#include <ratio>
-#include <thread>
-
-#include "scout/scout_can_protocol.h"
-#include "scout/scout_command.hpp"
-#include "monitor/nshapes.hpp"
-#include "monitor/ncolors.hpp"
-
-namespace
-{
-// reference: https://thispointer.com/c-convert-double-to-string-and-manage-precision-scientific-notation/
-std::string ConvertFloatToString(double vel, int digit_num = 3)
-{
-    std::ostringstream streamObj;
-    streamObj << std::fixed;
-    streamObj << std::setprecision(digit_num);
-    streamObj << vel;
-    return streamObj.str();
-}
-
-// source: https://github.com/rxdu/stopwatch
-struct StopWatch
-{
-    using Clock = std::chrono::high_resolution_clock;
-    using time_point = typename Clock::time_point;
-    using duration = typename Clock::duration;
-
-    StopWatch() { tic_point = Clock::now(); };
-
-    time_point tic_point;
-
-    void tic()
-    {
-        tic_point = Clock::now();
-    };
-
-    double toc()
-    {
-        return std::chrono::duration_cast<std::chrono::microseconds>(Clock::now() - tic_point).count() / 1000000.0;
-    };
-
-    // for different precisions
-    double stoc()
-    {
-        return std::chrono::duration_cast<std::chrono::seconds>(Clock::now() - tic_point).count();
-    };
-
-    double mtoc()
-    {
-        return std::chrono::duration_cast<std::chrono::milliseconds>(Clock::now() - tic_point).count();
-    };
-
-    double utoc()
-    {
-        return std::chrono::duration_cast<std::chrono::microseconds>(Clock::now() - tic_point).count();
-    };
-
-    double ntoc()
-    {
-        return std::chrono::duration_cast<std::chrono::nanoseconds>(Clock::now() - tic_point).count();
-    };
-
-    // you have to call tic() before calling this function
-    void sleep_until_ms(int64_t period_ms)
-    {
-        int64_t duration = period_ms - std::chrono::duration_cast<std::chrono::milliseconds>(Clock::now() - tic_point).count();
-
-        if (duration > 0)
-            std::this_thread::sleep_for(std::chrono::milliseconds(duration));
-    };
-
-    void sleep_until_us(int64_t period_us)
-    {
-        int64_t duration = period_us - std::chrono::duration_cast<std::chrono::microseconds>(Clock::now() - tic_point).count();
-
-        if (duration > 0)
-            std::this_thread::sleep_for(std::chrono::microseconds(duration));
-    };
-};
-} // namespace
-
-namespace wescore
-{
-ScoutMonitor::ScoutMonitor()
-{
-    // init ncurses
-    initscr();
-    // raw();
-    cbreak();
-    noecho();
-    nonl();
-    curs_set(FALSE);
-    intrflush(stdscr, FALSE);
-    keypad(stdscr, TRUE);
-
-    CalcDimensions();
-
-    // setup sub-windows
-    body_info_win_ = newwin(bi_win_sy_, bi_win_sx_, bi_origin_y_, bi_origin_x_);
-    system_info_win_ = newwin(si_win_sy_, si_win_sx_, si_origin_y_, si_origin_x_);
-
-    NColors::InitColors();
-}
-
-ScoutMonitor::~ScoutMonitor()
-{
-    delwin(body_info_win_);
-    delwin(system_info_win_);
-    endwin();
-}
-
-void ScoutMonitor::UpdateAll()
-{
-    ClearAll();
-
-    CalcDimensions();
-    if (resizing_detected_)
-        HandleResizing();
-
-    UpdateScoutBodyInfo();
-    UpdateScoutSystemInfo();
-}
-
-void ScoutMonitor::SetTestStateData()
-{
-    scout_state_.base_state = BASE_NORMAL;
-    scout_state_.battery_voltage = 28.5;
-
-    scout_state_.linear_velocity = 1.234;
-    scout_state_.angular_velocity = -0.6853;
-
-    // scout_state_.fault_code |= MOTOR_DRV_OVERHEAT_W;
-    // scout_state_.fault_code |= MOTOR_OVERCURRENT_W;
-    // scout_state_.fault_code |= MOTOR_DRV_OVERHEAT_F;
-    // scout_state_.fault_code |= MOTOR_OVERCURRENT_F;
-    // scout_state_.fault_code |= BAT_UNDER_VOL_W;
-    // scout_state_.fault_code |= BAT_UNDER_VOL_F;
-    scout_state_.fault_code = 0x0000;
-    // scout_state_.fault_code = 0xffff;
-
-    // scout_state_.front_light_state.mode = CONST_ON;
-    scout_state_.front_light_state.mode = CUSTOM;
-    scout_state_.front_light_state.custom_value = 50;
-
-    scout_state_.rear_light_state.mode = CONST_ON;
-
-    scout_state_.motor_states[0].current = 10.1;
-    scout_state_.motor_states[0].rpm = 2000;
-    scout_state_.motor_states[0].temperature = 35;
-
-    scout_state_.motor_states[1].current = 10.1;
-    scout_state_.motor_states[1].rpm = 2000;
-    scout_state_.motor_states[1].temperature = 35;
-
-    scout_state_.motor_states[2].current = 10.1;
-    scout_state_.motor_states[2].rpm = 2000;
-    scout_state_.motor_states[2].temperature = 35;
-
-    scout_state_.motor_states[3].current = 10.1;
-    scout_state_.motor_states[3].rpm = 2000;
-    scout_state_.motor_states[3].temperature = 35;
-}
-
-void ScoutMonitor::Run(std::string device_name)
-{
-    if (device_name != "")
-        test_mode_ = false;
-
-    if (test_mode_)
-        SetTestStateData();
-    else
-        scout_base_.ConnectCANBus(device_name);
-
-    StopWatch sw;
-    while (keep_running_)
-    {
-        // label starting point of iteration
-        sw.tic();
-
-        // query for latest robot state
-        if (!test_mode_)
-            scout_state_ = scout_base_.GetScoutState();
-
-        // update window contents
-        UpdateAll();
-
-        // manage window refresh rate
-        sw.sleep_until_ms(100);
-    }
-}
-
-void ScoutMonitor::CalcDimensions()
-{
-    int sy, sx;
-    getmaxyx(stdscr, sy, sx);
-
-    if (sy != term_sy_ || sx != term_sx_)
-    {
-        resizing_detected_ = true;
-
-        term_sy_ = sy;
-        term_sx_ = sx;
-
-        bi_win_sy_ = term_sy_;
-        bi_win_sx_ = term_sx_ * 15 / 24;
-        bi_origin_y_ = 0;
-        bi_origin_x_ = 0;
-
-        si_win_sy_ = term_sy_;
-        si_win_sx_ = term_sx_ * 9 / 24;
-        si_origin_y_ = 0;
-        si_origin_x_ = bi_win_sx_;
-    }
-}
-
-void ScoutMonitor::HandleResizing()
-{
-    delwin(body_info_win_);
-    delwin(system_info_win_);
-
-    body_info_win_ = newwin(bi_win_sy_, bi_win_sx_, bi_origin_y_, bi_origin_x_);
-    system_info_win_ = newwin(si_win_sy_, si_win_sx_, si_origin_y_, si_origin_x_);
-
-    resizing_detected_ = false;
-}
-
-void ScoutMonitor::ClearAll()
-{
-    wclear(body_info_win_);
-    wclear(system_info_win_);
-}
-
-void ScoutMonitor::ShowVehicleState(int y, int x)
-{
-    // show linear velocity
-    const int linear_axis_x = x + vehicle_fp_offset_x_;
-    const int linear_axis_tip_y = y + 2;
-    const int linear_axis_origin_y = linear_axis_tip_y + linear_axis_length_;
-    const int linear_axis_negative_y = linear_axis_origin_y + linear_axis_length_ + 1;
-    mvwprintw(body_info_win_, linear_axis_tip_y - 1, linear_axis_x, "^");
-    for (int i = linear_axis_tip_y; i < linear_axis_origin_y; ++i)
-        mvwprintw(body_info_win_, i, linear_axis_x, "-");
-    mvwprintw(body_info_win_, linear_axis_origin_y, linear_axis_x, "x");
-    for (int i = linear_axis_origin_y + 1; i < linear_axis_negative_y; ++i)
-        mvwprintw(body_info_win_, i, linear_axis_x, "-");
-    mvwprintw(body_info_win_, linear_axis_negative_y, linear_axis_x, "v");
-    double linear_percentage = scout_state_.linear_velocity / ScoutMotionCmd::max_linear_velocity;
-    int linear_bars = std::abs(static_cast<int>(linear_percentage * 5)) + 1;
-    if (std::abs(scout_state_.linear_velocity) < 0.001)
-        linear_bars = 0;
-    if (linear_bars > 5)
-        linear_bars = 5;
-    if (scout_state_.linear_velocity > 0)
-    {
-        for (int i = linear_axis_origin_y - linear_bars; i < linear_axis_origin_y; ++i)
-        {
-            NColors::WSetColor(body_info_win_, NColors::BLACK, NColors::CYAN);
-            mvwprintw(body_info_win_, i, linear_axis_x, "-");
-            NColors::WUnsetColor(body_info_win_, NColors::BLACK, NColors::CYAN);
-        }
-    }
-    else if (scout_state_.linear_velocity < 0)
-    {
-        for (int i = linear_axis_origin_y + linear_bars; i > linear_axis_origin_y; --i)
-        {
-            NColors::WSetColor(body_info_win_, NColors::BLACK, NColors::CYAN);
-            mvwprintw(body_info_win_, i, linear_axis_x, "-");
-            NColors::WUnsetColor(body_info_win_, NColors::BLACK, NColors::CYAN);
-        }
-    }
-
-    // show angular velocity
-    const int angular_axis_y = linear_axis_origin_y;
-    const int angular_axis_origin_x = linear_axis_x;
-    const int angular_axis_positive_x = angular_axis_origin_x + angular_axis_length_ + 1;
-    const int angular_axis_negative_x = angular_axis_origin_x - angular_axis_length_;
-    mvwprintw(body_info_win_, angular_axis_y, angular_axis_negative_x - 1, "<");
-    for (int i = angular_axis_negative_x; i < angular_axis_origin_x; ++i)
-        mvwprintw(body_info_win_, angular_axis_y, i, "-");
-    mvwprintw(body_info_win_, linear_axis_origin_y, linear_axis_x, "x");
-    for (int i = angular_axis_origin_x + 1; i < angular_axis_positive_x; ++i)
-        mvwprintw(body_info_win_, angular_axis_y, i, "-");
-    mvwprintw(body_info_win_, angular_axis_y, angular_axis_positive_x, ">");
-
-    double angular_percentage = scout_state_.angular_velocity / ScoutMotionCmd::max_angular_velocity;
-    int angular_bars = std::abs(static_cast<int>(angular_percentage * 5)) + 1;
-    if (std::abs(scout_state_.angular_velocity) < 0.001)
-        angular_bars = 0;
-    if (angular_bars > 5)
-        angular_bars = 5;
-    if (scout_state_.angular_velocity < 0)
-    {
-        for (int i = angular_axis_origin_x + angular_bars; i > angular_axis_origin_x; --i)
-        {
-            NColors::WSetColor(body_info_win_, NColors::BLACK, NColors::MAGENTA);
-            mvwprintw(body_info_win_, angular_axis_y, i, "-");
-            NColors::WUnsetColor(body_info_win_, NColors::BLACK, NColors::MAGENTA);
-        }
-    }
-    else if (scout_state_.angular_velocity > 0)
-    {
-        for (int i = angular_axis_origin_x - angular_bars; i < angular_axis_origin_x; ++i)
-        {
-            NColors::WSetColor(body_info_win_, NColors::BLACK, NColors::MAGENTA);
-            mvwprintw(body_info_win_, angular_axis_y, i, "-");
-            NColors::WUnsetColor(body_info_win_, NColors::BLACK, NColors::MAGENTA);
-        }
-    }
-
-    // show velocity values
-    std::string linear_vel_str = "linear : " + ConvertFloatToString(scout_state_.linear_velocity);
-    mvwprintw(body_info_win_, linear_axis_negative_y + 2, angular_axis_negative_x - 2, linear_vel_str.c_str());
-
-    std::string angular_vel_str = "angular: " + ConvertFloatToString(scout_state_.angular_velocity);
-    mvwprintw(body_info_win_, linear_axis_negative_y + 3, angular_axis_negative_x - 2, angular_vel_str.c_str());
-
-    // show vehicle base
-    NShapes::WDrawRectangle(body_info_win_, linear_axis_tip_y - 2, angular_axis_negative_x - 4,
-                           linear_axis_negative_y + 4, angular_axis_positive_x + 3);
-
-    // show vehicle wheels
-    NShapes::WDrawRectangle(body_info_win_, linear_axis_tip_y - 1, angular_axis_negative_x - 9,
-                           linear_axis_tip_y + 4, angular_axis_negative_x - 5);
-    NShapes::WDrawRectangle(body_info_win_, linear_axis_negative_y - 2, angular_axis_negative_x - 9,
-                           linear_axis_negative_y + 3, angular_axis_negative_x - 5);
-    NShapes::WDrawRectangle(body_info_win_, linear_axis_tip_y - 1, angular_axis_positive_x + 4,
-                           linear_axis_tip_y + 4, angular_axis_positive_x + 8);
-    NShapes::WDrawRectangle(body_info_win_, linear_axis_negative_y - 2, angular_axis_positive_x + 4,
-                           linear_axis_negative_y + 3, angular_axis_positive_x + 8);
-
-    // front right motor
-    ShowMotorInfo(linear_axis_tip_y - 1, angular_axis_positive_x + 4, scout_state_.motor_states[0].current,
-                  scout_state_.motor_states[0].rpm, scout_state_.motor_states[0].temperature, true);
-    // front left motor
-    ShowMotorInfo(linear_axis_tip_y - 1, angular_axis_negative_x - 9, scout_state_.motor_states[1].current,
-                  scout_state_.motor_states[1].rpm, scout_state_.motor_states[1].temperature, false);
-    // rear left motor
-    ShowMotorInfo(linear_axis_negative_y - 2, angular_axis_negative_x - 9, scout_state_.motor_states[2].current,
-                  scout_state_.motor_states[2].rpm, scout_state_.motor_states[2].temperature, false);
-    // rear right motor
-    ShowMotorInfo(linear_axis_negative_y - 2, angular_axis_positive_x + 4, scout_state_.motor_states[3].current,
-                  scout_state_.motor_states[3].rpm, scout_state_.motor_states[3].temperature, true);
-
-    // show vehicle lights
-    std::string front_mode_str = "Mode: ";
-    if (scout_state_.front_light_state.mode == CONST_ON)
-        front_mode_str += "ON";
-    else if (scout_state_.front_light_state.mode == CONST_OFF)
-        front_mode_str += "OFF";
-    else if (scout_state_.front_light_state.mode == BREATH)
-        front_mode_str += "BREATH";
-    else if (scout_state_.front_light_state.mode == CUSTOM)
-        front_mode_str += "CUSTOM";
-    mvwprintw(body_info_win_, linear_axis_tip_y - 4, angular_axis_origin_x - 13, front_mode_str.c_str());
-    std::string front_custom_str = "Custom: " + ConvertFloatToString(scout_state_.front_light_state.custom_value, 0);
-    mvwprintw(body_info_win_, linear_axis_tip_y - 4, angular_axis_origin_x + 3, front_custom_str.c_str());
-    if (scout_state_.front_light_state.mode != CONST_OFF &&
-        !(scout_state_.front_light_state.mode == CUSTOM && scout_state_.front_light_state.custom_value == 0))
-    {
-        NColors::WSetColor(body_info_win_, NColors::BRIGHT_YELLOW);
-        for (int i = angular_axis_origin_x - 5; i < angular_axis_origin_x - 1; ++i)
-            mvwprintw(body_info_win_, linear_axis_tip_y - 3, i, "v");
-        mvwprintw(body_info_win_, linear_axis_tip_y - 3, angular_axis_origin_x, "v");
-        for (int i = angular_axis_origin_x + 2; i <= angular_axis_origin_x + 5; ++i)
-            mvwprintw(body_info_win_, linear_axis_tip_y - 3, i, "v");
-        NColors::WUnsetColor(body_info_win_, NColors::BRIGHT_YELLOW);
-    }
-
-    std::string rear_mode_str = "Mode: ";
-    if (scout_state_.rear_light_state.mode == CONST_ON)
-        rear_mode_str += "ON";
-    else if (scout_state_.rear_light_state.mode == CONST_OFF)
-        rear_mode_str += "OFF";
-    else if (scout_state_.rear_light_state.mode == BREATH)
-        rear_mode_str += "BREATH";
-    else if (scout_state_.rear_light_state.mode == CUSTOM)
-        rear_mode_str += "CUSTOM";
-    mvwprintw(body_info_win_, linear_axis_negative_y + 6, angular_axis_origin_x - 13, rear_mode_str.c_str());
-    std::string rear_custom_str = "Custom: " + ConvertFloatToString(scout_state_.rear_light_state.custom_value, 0);
-    mvwprintw(body_info_win_, linear_axis_negative_y + 6, angular_axis_origin_x + 3, rear_custom_str.c_str());
-    if (scout_state_.rear_light_state.mode != CONST_OFF &&
-        !(scout_state_.rear_light_state.mode == CUSTOM && scout_state_.rear_light_state.custom_value == 0))
-    {
-        NColors::WSetColor(body_info_win_, NColors::BRIGHT_RED);
-        for (int i = angular_axis_origin_x - 5; i < angular_axis_origin_x - 1; ++i)
-            mvwprintw(body_info_win_, linear_axis_negative_y + 5, i, "^");
-        mvwprintw(body_info_win_, linear_axis_negative_y + 5, angular_axis_origin_x, "^");
-        for (int i = angular_axis_origin_x + 2; i <= angular_axis_origin_x + 5; ++i)
-            mvwprintw(body_info_win_, linear_axis_negative_y + 5, i, "^");
-        NColors::WUnsetColor(body_info_win_, NColors::BRIGHT_RED);
-    }
-}
-
-void ScoutMonitor::UpdateScoutBodyInfo()
-{
-    // for (int i = 0; i < bi_win_sx_; i++)
-    //     mvwprintw(body_info_win_, bi_win_sy_ - 1, i, "-");
-
-    ShowVehicleState(bi_win_sy_ / 2 - vehicle_fp_offset_y_, bi_win_sx_ / 2 - vehicle_fp_offset_x_);
-
-    wrefresh(body_info_win_);
-}
-
-void ScoutMonitor::UpdateScoutSystemInfo()
-{
-    for (int i = 0; i < si_win_sy_; i++)
-        mvwprintw(system_info_win_, i, 0, "|");
-
-    const int state_title_col = (si_win_sx_ - 24) / 2;
-    const int state_value_col = state_title_col + 20;
-    const int state_div_col = state_value_col - 2;
-
-    // system state
-    const int sec1 = static_cast<int>(std::round((si_win_sy_ - 20) / 2.0));
-    ShowStatusItemName(sec1, state_title_col, "System state");
-
-    if (scout_state_.base_state == BASE_NORMAL)
-    {
-        NColors::WSetColor(system_info_win_, NColors::GREEN);
-        mvwprintw(system_info_win_, sec1, state_value_col, "NORMAL");
-        NColors::WUnsetColor(system_info_win_, NColors::GREEN);
-    }
-    else if (scout_state_.base_state == BASE_ESTOP)
-    {
-        NColors::WSetColor(system_info_win_, NColors::YELLOW);
-        mvwprintw(system_info_win_, sec1, state_value_col, "ESTOP");
-        NColors::WUnsetColor(system_info_win_, NColors::YELLOW);
-    }
-    else if (scout_state_.base_state == BASE_EXCEPTION)
-    {
-        NColors::WSetColor(system_info_win_, NColors::RED);
-        mvwprintw(system_info_win_, sec1, state_value_col, "EXCEPT");
-        NColors::WUnsetColor(system_info_win_, NColors::RED);
-    }
-
-    // control mode
-    ShowStatusItemName(sec1 + 1, state_title_col, "Control mode");
-    if (scout_state_.control_mode == REMOTE_MODE)
-        mvwprintw(system_info_win_, sec1 + 1, state_value_col, "REMOTE");
-    else if (scout_state_.control_mode == CMD_CAN_MODE)
-        mvwprintw(system_info_win_, sec1 + 1, state_value_col, "CAN");
-    else if (scout_state_.control_mode == CMD_UART_MODE)
-        mvwprintw(system_info_win_, sec1 + 1, state_value_col, "UART");
-    // mvwprintw(system_info_win_, sec1 + 1, state_value_col, std::to_string(scout_state_.control_mode).c_str());
-
-    // battery voltage
-    ShowStatusItemName(sec1 + 2, state_title_col, "Battery voltage");
-    std::string bat_vol_str = ConvertFloatToString(scout_state_.battery_voltage, 1) + " v";
-    mvwprintw(system_info_win_, sec1 + 2, state_value_col, bat_vol_str.c_str());
-
-    const int fault_col_1 = state_value_col;
-    const int fault_col_2 = fault_col_1 + 2;
-    const int fault_col_3 = fault_col_2 + 2;
-
-    const int sec2 = sec1 + 4;
-    mvwprintw(system_info_win_, sec2, state_title_col, "System faults");
-
-    // motor driver over heat;
-    ShowStatusItemName(sec2 + 1, state_title_col, "-Drv over-heat");
-    if ((scout_state_.fault_code & MOTOR_DRV_OVERHEAT_W) == 0 &&
-        (scout_state_.fault_code & MOTOR_DRV_OVERHEAT_F) == 0)
-    {
-        NColors::WSetColor(system_info_win_, NColors::GREEN);
-        mvwprintw(system_info_win_, sec2 + 1, fault_col_1, "N");
-        NColors::WUnsetColor(system_info_win_, NColors::GREEN);
-    }
-    else
-    {
-        if (scout_state_.fault_code & MOTOR_DRV_OVERHEAT_W)
-        {
-            NColors::WSetColor(system_info_win_, NColors::YELLOW);
-            mvwprintw(system_info_win_, sec2 + 1, fault_col_2, "W");
-            NColors::WUnsetColor(system_info_win_, NColors::YELLOW);
-        }
-        if (scout_state_.fault_code & MOTOR_DRV_OVERHEAT_F)
-        {
-            NColors::WSetColor(system_info_win_, NColors::RED);
-            mvwprintw(system_info_win_, sec2 + 1, fault_col_3, "P");
-            NColors::WUnsetColor(system_info_win_, NColors::RED);
-        }
-    }
-
-    // motor driver over current
-    ShowStatusItemName(sec2 + 2, state_title_col, "-Mt over-current");
-    if ((scout_state_.fault_code & MOTOR_OVERCURRENT_W) == 0 &&
-        (scout_state_.fault_code & MOTOR_OVERCURRENT_F) == 0)
-    {
-        NColors::WSetColor(system_info_win_, NColors::GREEN);
-        mvwprintw(system_info_win_, sec2 + 2, fault_col_1, "N");
-        NColors::WUnsetColor(system_info_win_, NColors::GREEN);
-    }
-    else
-    {
-        if (scout_state_.fault_code & MOTOR_OVERCURRENT_W)
-        {
-            NColors::WSetColor(system_info_win_, NColors::YELLOW);
-            mvwprintw(system_info_win_, sec2 + 2, fault_col_2, "W");
-            NColors::WUnsetColor(system_info_win_, NColors::YELLOW);
-        }
-        if (scout_state_.fault_code & MOTOR_OVERCURRENT_F)
-        {
-            NColors::WSetColor(system_info_win_, NColors::RED);
-            mvwprintw(system_info_win_, sec2 + 2, fault_col_3, "P");
-            NColors::WUnsetColor(system_info_win_, NColors::RED);
-        }
-    }
-
-    // battery under voltage
-    ShowStatusItemName(sec2 + 3, state_title_col, "-Bat under volt");
-    if ((scout_state_.fault_code & BAT_UNDER_VOL_W) == 0 &&
-        (scout_state_.fault_code & BAT_UNDER_VOL_F) == 0)
-    {
-        NColors::WSetColor(system_info_win_, NColors::GREEN);
-        mvwprintw(system_info_win_, sec2 + 3, fault_col_1, "N");
-        NColors::WUnsetColor(system_info_win_, NColors::GREEN);
-    }
-    else
-    {
-        if (scout_state_.fault_code & BAT_UNDER_VOL_W)
-        {
-            NColors::WSetColor(system_info_win_, NColors::YELLOW);
-            mvwprintw(system_info_win_, sec2 + 3, fault_col_2, "W");
-            NColors::WUnsetColor(system_info_win_, NColors::YELLOW);
-        }
-        if (scout_state_.fault_code & BAT_UNDER_VOL_F)
-        {
-            NColors::WSetColor(system_info_win_, NColors::RED);
-            mvwprintw(system_info_win_, sec2 + 3, fault_col_3, "F");
-            NColors::WUnsetColor(system_info_win_, NColors::RED);
-        }
-    }
-
-    // battery over voltage
-    ShowStatusItemName(sec2 + 4, state_title_col, "-Bat over volt");
-    ShowFault(sec2 + 4, fault_col_1, (scout_state_.fault_code & BAT_OVER_VOL_F) == 0);
-
-    const int sec3 = sec2 + 6;
-    mvwprintw(system_info_win_, sec3, state_title_col, "Comm faults");
-
-    // CAN cmd checksum
-    ShowStatusItemName(sec3 + 1, state_title_col, "-CAN cmd checksum");
-    ShowFault(sec3 + 1, fault_col_1, (scout_state_.fault_code & CAN_CHECKSUM_ERROR) == 0);
-
-    // motor comm
-    ShowStatusItemName(sec3 + 2, state_title_col, "-Motor 1 comm");
-    ShowFault(sec3 + 2, fault_col_1, (scout_state_.fault_code & MOTOR1_COMM_F) == 0);
-
-    ShowStatusItemName(sec3 + 3, state_title_col, "-Motor 2 comm");
-    ShowFault(sec3 + 3, fault_col_1, (scout_state_.fault_code & MOTOR2_COMM_F) == 0);
-
-    ShowStatusItemName(sec3 + 4, state_title_col, "-Motor 3 comm");
-    ShowFault(sec3 + 4, fault_col_1, (scout_state_.fault_code & MOTOR3_COMM_F) == 0);
-
-    ShowStatusItemName(sec3 + 5, state_title_col, "-Motor 4 comm");
-    ShowFault(sec3 + 5, fault_col_1, (scout_state_.fault_code & MOTOR4_COMM_F) == 0);
-
-    const int sec4 = sec3 + 8;
-    NColors::WSetColor(system_info_win_, NColors::GREEN);
-    mvwprintw(system_info_win_, sec4, state_title_col + 1, "N: normal");
-    NColors::WUnsetColor(system_info_win_, NColors::GREEN);
-
-    NColors::WSetColor(system_info_win_, NColors::YELLOW);
-    mvwprintw(system_info_win_, sec4, state_title_col + 12, "W: warning");
-    NColors::WUnsetColor(system_info_win_, NColors::YELLOW);
-
-    NColors::WSetColor(system_info_win_, NColors::RED);
-    mvwprintw(system_info_win_, sec4 + 1, state_title_col + 1, "F: fault   P: protection");
-    NColors::WUnsetColor(system_info_win_, NColors::RED);
-
-    wrefresh(system_info_win_);
-}
-
-void ScoutMonitor::ShowStatusItemName(int y, int x, std::string name)
-{
-    const int state_value_col = x + 20;
-    const int state_div_col = state_value_col - 2;
-
-    mvwprintw(system_info_win_, y, x, name.c_str());
-    mvwprintw(system_info_win_, y, state_div_col, ":");
-}
-
-void ScoutMonitor::ShowFault(int y, int x, bool no_fault)
-{
-    const int fault_col_1 = x;
-    const int fault_col_2 = x + 2;
-    const int fault_col_3 = fault_col_2 + 2;
-
-    if (no_fault)
-    {
-        NColors::WSetColor(system_info_win_, NColors::GREEN);
-        mvwprintw(system_info_win_, y, fault_col_1, "N");
-        NColors::WUnsetColor(system_info_win_, NColors::GREEN);
-    }
-    else
-    {
-        NColors::WSetColor(system_info_win_, NColors::RED);
-        mvwprintw(system_info_win_, y, fault_col_3, "F");
-        NColors::WUnsetColor(system_info_win_, NColors::RED);
-    }
-}
-
-// (y,x): position of the top left point of corresponding wheel
-void ScoutMonitor::ShowMotorInfo(int y, int x, double cur, int rpm, int temp, bool is_right)
-{
-    int col_title = x;
-    if (is_right)
-        col_title += 6;
-    else
-        col_title -= 9;
-
-    std::string cur_str = "CUR:" + ConvertFloatToString(cur, 1);
-    mvwprintw(body_info_win_, y + 1, col_title, cur_str.c_str());
-
-    std::string rpm_str = "RPM:" + ConvertFloatToString(rpm, 0);
-    mvwprintw(body_info_win_, y + 2, col_title, rpm_str.c_str());
-
-    std::string temp_str = "TMP:" + ConvertFloatToString(temp, 0);
-    mvwprintw(body_info_win_, y + 3, col_title, temp_str.c_str());
-}
-} // namespace wescore

scout_base/src/scout_sdk/src/monitor/tests/CMakeLists.txt

@@ -1,15 +0,0 @@
-# Add executables
-add_executable(test_scout_monitor test_scout_monitor.cpp)
-target_link_libraries(test_scout_monitor monitor)
-
-add_executable(test_scout_monitor_virtual test_scout_monitor_virtual.cpp)
-target_link_libraries(test_scout_monitor_virtual monitor)
-
-# add_executable(test_ncurses test_ncurses.cpp)
-# target_link_libraries(test_ncurses monitor)
-
-add_executable(test_ncolor test_ncolor.c)
-target_link_libraries(test_ncolor monitor)
-
-add_executable(test_ncolor2 test_ncolor2.cpp)
-target_link_libraries(test_ncolor2 monitor)

scout_base/src/scout_sdk/src/monitor/tests/test_ncolor.c

@@ -1,158 +0,0 @@
-/* color-demo.c */
-// source: https://www.linuxjournal.com/content/about-ncurses-colors-0
-
-#include <curses.h>
-#include <stdio.h>
-#include <stdlib.h>
-
-int is_bold(int fg);
-void init_colorpairs(void);
-short curs_color(int fg);
-int colornum(int fg, int bg);
-void setcolor(int fg, int bg);
-void unsetcolor(int fg, int bg);
-
-void init_colorpairs(void)
-{
-    int fg, bg;
-    int colorpair;
-
-    for (bg = 0; bg <= 7; bg++)
-    {
-        for (fg = 0; fg <= 7; fg++)
-        {
-            colorpair = colornum(fg, bg);
-            init_pair(colorpair, curs_color(fg), curs_color(bg));
-        }
-    }
-}
-
-short curs_color(int fg)
-{
-    switch (7 & fg)
-    {       /* RGB */
-    case 0: /* 000 */
-        return (COLOR_BLACK);
-    case 1: /* 001 */
-        return (COLOR_BLUE);
-    case 2: /* 010 */
-        return (COLOR_GREEN);
-    case 3: /* 011 */
-        return (COLOR_CYAN);
-    case 4: /* 100 */
-        return (COLOR_RED);
-    case 5: /* 101 */
-        return (COLOR_MAGENTA);
-    case 6: /* 110 */
-        return (COLOR_YELLOW);
-    case 7: /* 111 */
-        return (COLOR_WHITE);
-    }
-}
-
-int colornum(int fg, int bg)
-{
-    int B, bbb, ffff;
-
-    B = 1 << 7;
-    bbb = (7 & bg) << 4;
-    ffff = 7 & fg;
-
-    return (B | bbb | ffff);
-}
-
-void setcolor(int fg, int bg)
-{
-    /* set the color pair (colornum) and bold/bright (A_BOLD) */
-
-    attron(COLOR_PAIR(colornum(fg, bg)));
-    if (is_bold(fg))
-    {
-        attron(A_BOLD);
-    }
-}
-
-void unsetcolor(int fg, int bg)
-{
-    /* unset the color pair (colornum) and
-       bold/bright (A_BOLD) */
-
-    attroff(COLOR_PAIR(colornum(fg, bg)));
-    if (is_bold(fg))
-    {
-        attroff(A_BOLD);
-    }
-}
-
-int is_bold(int fg)
-{
-    /* return the intensity bit */
-
-    int i;
-
-    i = 1 << 3;
-    return (i & fg);
-}
-
-int main(void)
-{
-    int fg, bg;
-
-    /* initialize curses */
-
-    initscr();
-    keypad(stdscr, TRUE);
-    cbreak();
-    noecho();
-
-    /* initialize colors */
-
-    if (has_colors() == FALSE)
-    {
-        endwin();
-        puts("Your terminal does not support color");
-        exit(1);
-    }
-
-    start_color();
-    init_colorpairs();
-
-    /* draw test pattern */
-
-    if ((LINES < 24) || (COLS < 80))
-    {
-        endwin();
-        puts("Your terminal needs to be at least 80x24");
-        exit(2);
-    }
-
-    mvaddstr(0, 35, "COLOR DEMO");
-    mvaddstr(2, 0, "low intensity text colors (0-7)");
-    mvaddstr(12, 0, "high intensity text colors (8-15)");
-
-    for (bg = 0; bg <= 7; bg++)
-    {
-        for (fg = 0; fg <= 7; fg++)
-        {
-            setcolor(fg, bg);
-            mvaddstr(fg + 3, bg * 10, "...test...");
-            unsetcolor(fg, bg);
-        }
-
-        for (fg = 8; fg <= 15; fg++)
-        {
-            setcolor(fg, bg);
-            mvaddstr(fg + 5, bg * 10, "...test...");
-            unsetcolor(fg, bg);
-        }
-    }
-
-    mvaddstr(LINES - 1, 0, "press any key to quit");
-
-    refresh();
-
-    getch();
-    endwin();
-
-    exit(0);
-}

scout_base/src/scout_sdk/src/monitor/tests/test_ncolor2.cpp

@@ -1,65 +0,0 @@
-#include "monitor/ncolors.hpp"
-
-using namespace wescore;
-
-int main(void)
-{
-    int fg, bg;
-
-    /* initialize curses */
-
-    initscr();
-    keypad(stdscr, TRUE);
-    cbreak();
-    noecho();
-
-    /* initialize colors */
-
-    if (has_colors() == FALSE)
-    {
-        endwin();
-        puts("Your terminal does not support color");
-        return 1;
-    }
-
-    NColors::InitColors();
-
-    /* draw test pattern */
-
-    if ((LINES < 24) || (COLS < 80))
-    {
-        endwin();
-        puts("Your terminal needs to be at least 80x24");
-        return 2;
-    }
-
-    mvaddstr(0, 35, "COLOR DEMO");
-    mvaddstr(2, 0, "low intensity text colors (0-7)");
-    mvaddstr(12, 0, "high intensity text colors (8-15)");
-
-    for (bg = 0; bg <= 7; bg++)
-    {
-        for (fg = 0; fg <= 7; fg++)
-        {
-            NColors::SetColor(fg, bg);
-            mvaddstr(fg + 3, bg * 10, "...test...");
-            NColors::UnsetColor(fg, bg);
-        }
-
-        for (fg = 8; fg <= 15; fg++)
-        {
-            NColors::SetColor(fg, bg);
-            mvaddstr(fg + 5, bg * 10, "...test...");
-            NColors::UnsetColor(fg, bg);
-        }
-    }
-
-    mvaddstr(LINES - 1, 0, "press any key to quit");
-
-    refresh();
-
-    getch();
-    endwin();
-
-    return 0;
-}

scout_base/src/scout_sdk/src/monitor/tests/test_ncurses.cpp

@@ -1,118 +0,0 @@
-#include <panel.h>
-#include <string.h>
-
-#define NLINES 10
-#define NCOLS 40
-
-void init_wins(WINDOW **wins, int n);
-void win_show(WINDOW *win, char *label, int label_color);
-void print_in_middle(WINDOW *win, int starty, int startx, int width, char *string, chtype color);
-
-int main()
-{	WINDOW *my_wins[3];
-	PANEL  *my_panels[3];
-	PANEL  *top;
-	int ch;
-
-	/* Initialize curses */
-	initscr();
-	start_color();
-	cbreak();
-	noecho();
-	keypad(stdscr, TRUE);
-
-	/* Initialize all the colors */
-	init_pair(1, COLOR_RED, COLOR_BLACK);
-	init_pair(2, COLOR_GREEN, COLOR_BLACK);
-	init_pair(3, COLOR_BLUE, COLOR_BLACK);
-	init_pair(4, COLOR_CYAN, COLOR_BLACK);
-
-	init_wins(my_wins, 3);
-	
-	/* Attach a panel to each window */ 	/* Order is bottom up */
-	my_panels[0] = new_panel(my_wins[0]); 	/* Push 0, order: stdscr-0 */
-	my_panels[1] = new_panel(my_wins[1]); 	/* Push 1, order: stdscr-0-1 */
-	my_panels[2] = new_panel(my_wins[2]); 	/* Push 2, order: stdscr-0-1-2 */
-
-	/* Set up the user pointers to the next panel */
-	set_panel_userptr(my_panels[0], my_panels[1]);
-	set_panel_userptr(my_panels[1], my_panels[2]);
-	set_panel_userptr(my_panels[2], my_panels[0]);
-
-	/* Update the stacking order. 2nd panel will be on top */
-	update_panels();
-
-	/* Show it on the screen */
-	attron(COLOR_PAIR(4));
-	mvprintw(LINES - 2, 0, "Use tab to browse through the windows (F1 to Exit)");
-	attroff(COLOR_PAIR(4));
-	doupdate();
-
-	top = my_panels[2];
-	while((ch = getch()) != KEY_F(1))
-	{	switch(ch)
-		{	case 9:
-				top = (PANEL *)panel_userptr(top);
-				top_panel(top);
-				break;
-		}
-		update_panels();
-		doupdate();
-	}
-	endwin();
-	return 0;
-}
-
-/* Put all the windows */
-void init_wins(WINDOW **wins, int n)
-{	int x, y, i;
-	char label[80];
-
-	y = 2;
-	x = 10;
-	for(i = 0; i < n; ++i)
-	{	wins[i] = newwin(NLINES, NCOLS, y, x);
-		sprintf(label, "Window Number %d", i + 1);
-		win_show(wins[i], label, i + 1);
-		y += 3;
-		x += 7;
-	}
-}
-
-/* Show the window with a border and a label */
-void win_show(WINDOW *win, char *label, int label_color)
-{	int startx, starty, height, width;
-
-	getbegyx(win, starty, startx);
-	getmaxyx(win, height, width);
-
-	box(win, 0, 0);
-	mvwaddch(win, 2, 0, ACS_LTEE); 
-	mvwhline(win, 2, 1, ACS_HLINE, width - 2); 
-	mvwaddch(win, 2, width - 1, ACS_RTEE); 
-	
-	print_in_middle(win, 1, 0, width, label, COLOR_PAIR(label_color));
-}
-
-void print_in_middle(WINDOW *win, int starty, int startx, int width, char *string, chtype color)
-{	int length, x, y;
-	float temp;
-
-	if(win == NULL)
-		win = stdscr;
-	getyx(win, y, x);
-	if(startx != 0)
-		x = startx;
-	if(starty != 0)
-		y = starty;
-	if(width == 0)
-		width = 80;
-
-	length = strlen(string);
-	temp = (width - length)/ 2;
-	x = startx + (int)temp;
-	wattron(win, color);
-	mvwprintw(win, y, x, "%s", string);
-	wattroff(win, color);
-	refresh();
-}

scout_base/src/scout_sdk/src/monitor/tests/test_scout_monitor.cpp

@@ -1,33 +0,0 @@
-#include <signal.h>
-#include <stdlib.h>
-#include <stdio.h>
-#include <unistd.h>
-
-#include <iostream>
-
-#include "monitor/scout_monitor.hpp"
-
-using namespace wescore;
-
-ScoutMonitor monitor;
-
-void SignalHandler(int s)
-{
-    printf("Caught signal %d\n", s);
-    monitor.Terminate();
-    exit(1);
-}
-
-int main(int argc, char **argv)
-{
-    struct sigaction sigIntHandler;
-    sigIntHandler.sa_handler = SignalHandler;
-    sigemptyset(&sigIntHandler.sa_mask);
-    sigIntHandler.sa_flags = 0;
-    sigaction(SIGINT, &sigIntHandler, NULL);
-
-    std::cout << "scout monitor started" << std::endl;
-    monitor.Run("can1");
-
-    return 0;
-}

scout_base/src/scout_sdk/src/monitor/tests/test_scout_monitor_virtual.cpp

@@ -1,33 +0,0 @@
-#include <signal.h>
-#include <stdlib.h>
-#include <stdio.h>
-#include <unistd.h>
-
-#include <iostream>
-
-#include "monitor/scout_monitor.hpp"
-
-using namespace wescore;
-
-ScoutMonitor monitor;
-
-void SignalHandler(int s)
-{
-    printf("Caught signal %d\n", s);
-    monitor.Terminate();
-    exit(1);
-}
-
-int main(int argc, char **argv)
-{
-    struct sigaction sigIntHandler;
-    sigIntHandler.sa_handler = SignalHandler;
-    sigemptyset(&sigIntHandler.sa_mask);
-    sigIntHandler.sa_flags = 0;
-    sigaction(SIGINT, &sigIntHandler, NULL);
-
-    std::cout << "scout monitor started" << std::endl;
-    monitor.Run();
-
-    return 0;
-}

scout_base/src/scout_sdk/src/sdk_core/CMakeLists.txt

@@ -1,7 +0,0 @@
-# Add source directories
-add_subdirectory(async_io)
-add_subdirectory(scout_base)
-
-if(BUILD_TESTS)
-    add_subdirectory(unit_tests)
-endif()

scout_base/src/scout_sdk/src/sdk_core/async_io/CMakeLists.txt

@@ -1,36 +0,0 @@
-# Dependency libraries
-# find_package(LIB_NAME REQUIRED)
-
-# Add libraries
-set(ASYNC_IO_LIB_SRC
-    src/async_serial.cpp
-    src/async_can.cpp
-)
-add_library(asyncio STATIC ${ASYNC_IO_LIB_SRC})
-set_target_properties(asyncio PROPERTIES POSITION_INDEPENDENT_CODE ON)
-target_compile_definitions(asyncio PUBLIC "-DASIO_ENABLE_OLD_SERVICES -DASIO_HAS_POSIX_STREAM_DESCRIPTOR")
-target_link_libraries(asyncio asio pthread)
-target_include_directories(asyncio PUBLIC
-	$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-	$<INSTALL_INTERFACE:include>
-	PRIVATE src)
-
-# Add executables
-if(BUILD_TESTS)
-	add_subdirectory(tests)
-endif()
-
-# # 'make install' to the correct locations (provided by GNUInstallDirs).
-# install(TARGETS lib EXPORT MyLibraryConfig
-# ARCHIVE  DESTINATION ${CMAKE_INSTALL_LIBDIR}
-# LIBRARY  DESTINATION ${CMAKE_INSTALL_LIBDIR}
-# RUNTIME  DESTINATION ${CMAKE_INSTALL_BINDIR})  # This is for Windows
-# install(DIRECTORY include/ DESTINATION ${CMAKE_INSTALL_INCLUDEDIR})
-
-# # This makes the project importable from the install directory
-# # Put config file in per-project dir (name MUST match), can also
-# # just go into 'cmake'.
-# install(EXPORT MyLibraryConfig DESTINATION share/MyLibrary/cmake)
-
-# # This makes the project importable from the build directory
-# export(TARGETS lib FILE MyLibraryConfig.cmake)

scout_base/src/scout_sdk/src/sdk_core/async_io/tests/CMakeLists.txt

@@ -1,9 +0,0 @@
-# Add executables
-add_executable(test_aserial test_aserial.cpp)
-target_link_libraries(test_aserial asyncio)
-
-add_executable(test_asio_can test_asio_can.cpp)
-target_link_libraries(test_asio_can asio pthread)
-
-add_executable(test_acan test_acan.cpp)
-target_link_libraries(test_acan asyncio)

scout_base/src/scout_sdk/src/sdk_core/async_io/tests/test_acan.cpp

@@ -1,60 +0,0 @@
-#include <iostream>
-#include "async_io/async_can.hpp"
-
-using namespace wescore;
-
-void parse_buffer(uint8_t *buf, const size_t bufsize, size_t bytes_received)
-{
-    std::cout << "parser called" << std::endl;
-
-    // mavlink::mavlink_status_t status;
-    // mavlink::mavlink_message_t message;
-
-    for (; bytes_received > 0; bytes_received--)
-    {
-        auto c = *buf++;
-
-        // 	// based on mavlink_parse_char()
-        // 	auto msg_received = static_cast<Framing>(mavlink::mavlink_frame_char_buffer(&m_buffer, &m_status, c, &message, &status));
-        // 	if (msg_received == Framing::bad_crc || msg_received == Framing::bad_signature) {
-        // 		mavlink::_mav_parse_error(&m_status);
-        // 		m_status.msg_received = mavlink::MAVLINK_FRAMING_INCOMPLETE;
-        // 		m_status.parse_state = mavlink::MAVLINK_PARSE_STATE_IDLE;
-        // 		if (c == MAVLINK_STX) {
-        // 			m_status.parse_state = mavlink::MAVLINK_PARSE_STATE_GOT_STX;
-        // 			m_buffer.len = 0;
-        // 			mavlink::mavlink_start_checksum(&m_buffer);
-        // 		}
-        // 	}
-
-        // 	if (msg_received != Framing::incomplete) {
-        // 		log_recv(pfx, message, msg_received);
-
-        // 		if (message_received_cb)
-        // 			message_received_cb(&message, msg_received);
-        // 	}
-    }
-}
-
-int main(int argc, char *argv[])
-{
-    std::shared_ptr<ASyncCAN> canbus = std::make_shared<ASyncCAN>("can1");
-
-    // canbus->set_receive_callback(parse_buffer);
-
-    // if (canbus->is_open())
-    //     std::cout << "can bus connected" << std::endl;
-
-    struct can_frame frame;
-    frame.can_id = 0x123;
-    frame.can_dlc = 2;
-    frame.data[0] = 0x11;
-    frame.data[1] = 0x23;
-
-    while (1)
-    {
-        // canbus->send_bytes(data, 3);
-        canbus->send_frame(frame);
-        sleep(1);
-    }
-}

scout_base/src/scout_sdk/src/sdk_core/async_io/tests/test_aserial.cpp

@@ -1,64 +0,0 @@
-/*
- * test_interface.cpp
- *
- *  Created on: Dec 25, 2016
- *      Author: rdu
- */
-
-#include <iostream>
-
-#include "async_io/async_serial.hpp"
-
-using namespace wescore;
-
-void parse_buffer(uint8_t *buf, const size_t bufsize, size_t bytes_received)
-{
-    std::cout << "parser called" << std::endl;
-
-    // mavlink::mavlink_status_t status;
-    // mavlink::mavlink_message_t message;
-
-    for (; bytes_received > 0; bytes_received--)
-    {
-        auto c = *buf++;
-
-        // 	// based on mavlink_parse_char()
-        // 	auto msg_received = static_cast<Framing>(mavlink::mavlink_frame_char_buffer(&m_buffer, &m_status, c, &message, &status));
-        // 	if (msg_received == Framing::bad_crc || msg_received == Framing::bad_signature) {
-        // 		mavlink::_mav_parse_error(&m_status);
-        // 		m_status.msg_received = mavlink::MAVLINK_FRAMING_INCOMPLETE;
-        // 		m_status.parse_state = mavlink::MAVLINK_PARSE_STATE_IDLE;
-        // 		if (c == MAVLINK_STX) {
-        // 			m_status.parse_state = mavlink::MAVLINK_PARSE_STATE_GOT_STX;
-        // 			m_buffer.len = 0;
-        // 			mavlink::mavlink_start_checksum(&m_buffer);
-        // 		}
-        // 	}
-
-        // 	if (msg_received != Framing::incomplete) {
-        // 		log_recv(pfx, message, msg_received);
-
-        // 		if (message_received_cb)
-        // 			message_received_cb(&message, msg_received);
-        // 	}
-    }
-}
-
-int main(int argc, char *argv[])
-{
-    // ASyncSerial::Ptr serial = ASyncSerial::open_url("/dev/ttyUSB0:115200");
-    std::shared_ptr<ASyncSerial> serial = std::make_shared<ASyncSerial>("/dev/pts/6", 115200);
-
-    serial->set_receive_callback(parse_buffer);
-
-    if (serial->is_open())
-        std::cout << "serial port opened" << std::endl;
-
-    uint8_t data[8] = {'a','b','c'};
-
-    while (1)
-    {
-        serial->send_bytes(data, 3);
-        sleep(1);
-    }
-}

scout_base/src/scout_sdk/src/sdk_core/async_io/tests/test_asio_can.cpp

@@ -1,79 +0,0 @@
-// source: https://stackoverflow.com/questions/10467178/boostasio-over-socketcan
-
-#include <stdio.h>
-#include <stdlib.h>
-#include <unistd.h>
-#include <string.h>
-#include <iostream>
-
-#include <net/if.h>
-#include <sys/types.h>
-#include <sys/socket.h>
-#include <sys/ioctl.h>
-
-#include <linux/can.h>
-#include <linux/can/raw.h>
-
-#define ASIO_ENABLE_OLD_SERVICES
-#define ASIO_HAS_POSIX_STREAM_DESCRIPTOR
-
-#include "asio.hpp"
-#include <functional>
-
-#include "asio/posix/basic_stream_descriptor.hpp"
-
-void data_send(void)
-{
-    std::cout << "omg sent" << std::endl;
-}
-
-void data_rec(struct can_frame &rec_frame,
-              asio::posix::basic_stream_descriptor<> &stream)
-{
-    std::cout << std::hex << rec_frame.can_id << "  ";
-    for (int i = 0; i < rec_frame.can_dlc; i++)
-    {
-        std::cout << std::hex << int(rec_frame.data[i]) << " ";
-    }
-    std::cout << std::dec << std::endl;
-    stream.async_read_some(
-        asio::buffer(&rec_frame, sizeof(rec_frame)),
-        std::bind(data_rec, std::ref(rec_frame), std::ref(stream)));
-}
-
-int main(void)
-{
-    struct sockaddr_can addr;
-    struct can_frame frame;
-    struct can_frame rec_frame;
-    struct ifreq ifr;
-
-    int natsock = socket(PF_CAN, SOCK_RAW, CAN_RAW);
-
-    strcpy(ifr.ifr_name, "can1");
-    ioctl(natsock, SIOCGIFINDEX, &ifr);
-
-    addr.can_family = AF_CAN;
-    addr.can_ifindex = ifr.ifr_ifindex;
-    if (bind(natsock, (struct sockaddr *)&addr, sizeof(addr)) < 0)
-    {
-        perror("Error in socket bind");
-        return -2;
-    }
-
-    frame.can_id = 0x123;
-    frame.can_dlc = 2;
-    frame.data[0] = 0x11;
-    frame.data[1] = 0x23;
-
-    asio::io_service ios;
-    asio::posix::basic_stream_descriptor<> stream(ios);
-    stream.assign(natsock);
-
-    stream.async_write_some(asio::buffer(&frame, sizeof(frame)),
-                            std::bind(data_send));
-    stream.async_read_some(
-        asio::buffer(&rec_frame, sizeof(rec_frame)),
-        std::bind(data_rec, std::ref(rec_frame), std::ref(stream)));
-    ios.run();
-}

scout_base/src/scout_sdk/src/sdk_core/scout_base/CMakeLists.txt

@@ -1,18 +0,0 @@
-## Add libraries
-set(SCOUT_BASE_SRC 
-    src/scout_base.cpp
-    # src/scout_serial.cpp
-)
-add_library(scoutbase STATIC ${SCOUT_BASE_SRC})
-set_target_properties(scoutbase PROPERTIES POSITION_INDEPENDENT_CODE ON)
-target_link_libraries(scoutbase asyncio)
-target_include_directories(scoutbase PUBLIC
-    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-    $<BUILD_INTERFACE:${Boost_INCLUDE_DIRS}>
-	$<INSTALL_INTERFACE:include>	
-    PRIVATE src)
-
- ## Add executables
-if(BUILD_TESTS)
-    add_subdirectory(tests)
-endif()

scout_base/src/scout_sdk/src/sdk_core/scout_base/include/scout/scout_base.hpp

@@ -1,76 +0,0 @@
-/* 
- * scout_base.hpp
- * 
- * Created on: Jun 04, 2019 01:22
- * Description: 
- * 
- * Copyright (c) 2019 Ruixiang Du (rdu)
- */
-
-#ifndef SCOUT_BASE_HPP
-#define SCOUT_BASE_HPP
-
-#include <string>
-#include <cstdint>
-#include <thread>
-#include <mutex>
-#include <functional>
-
-#include "async_io/async_can.hpp"
-
-#include "scout/scout_state.hpp"
-#include "scout/scout_command.hpp"
-
-namespace wescore
-{
-class ScoutBase
-{
-public:
-    ScoutBase() = default;
-    ~ScoutBase();
-
-    // do not allow copy
-    ScoutBase(const ScoutBase &scout) = delete;
-    ScoutBase &operator=(const ScoutBase &scout) = delete;
-
-public:
-    void ConnectCANBus(const std::string &can_if_name = "can1");
-    void StartCmdThread(int32_t period_ms);
-
-    // motion control
-    void SetMotionCommand(double linear_vel, double angular_vel,
-                          ScoutMotionCmd::FaultClearFlag fault_clr_flag = ScoutMotionCmd::FaultClearFlag::NO_FAULT);
-
-    // light control
-    void SetLightCommand(ScoutLightCmd cmd);
-    void DisableLightCmdControl();
-
-    // get robot state
-    ScoutState GetScoutState();
-
-    // TODO internal use only, for testing, will be set private in future release
-    void UpdateScoutState(ScoutState &state, can_frame *rx_frame);
-
-private:
-    std::shared_ptr<ASyncCAN> can_if_;
-
-    std::thread cmd_thread_;
-    std::mutex scout_state_mutex_;
-    std::mutex motion_cmd_mutex_;
-    std::mutex light_cmd_mutex_;
-
-    ScoutState scout_state_;
-    ScoutMotionCmd current_motion_cmd_;
-    ScoutLightCmd current_light_cmd_;
-
-    bool cmd_thread_started_ = false;
-
-    bool light_ctrl_enabled_ = false;
-    bool light_ctrl_requested_ = false;
-
-    void ControlLoop(int32_t period_ms);
-    void ParseCANFrame(can_frame *rx_frame);
-};
-} // namespace wescore
-
-#endif /* SCOUT_BASE_HPP */

scout_base/src/scout_sdk/src/sdk_core/scout_base/include/scout/scout_can_protocol.h

@@ -1,337 +0,0 @@
-/* 
- * scout_can_protocol.h
- * 
- * Created on: Jun 10, 2019 23:23
- * Description: 
- * 
- * Copyright (c) 2019 Ruixiang Du (rdu)
- */
-
-#ifndef SCOUT_CAN_PROTOCOL_H
-#define SCOUT_CAN_PROTOCOL_H
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include "stdint.h"
-
-enum ScoutCANMsgIDs
-{
-    MSG_MOTION_CONTROL_ID = 0x130,
-    MSG_MOTION_CONTROL_FEEDBACK_ID = 0x131,
-    MSG_LIGHT_CONTROL_ID = 0x140,
-    MSG_LIGHT_CONTROL_FEEDBACK_ID = 0x141,
-    MSG_SYSTEM_STATUS_FEEDBACK_ID = 0x151,
-    MSG_MOTOR1_DRIVER_FEEDBACK_ID = 0x200,
-    MSG_MOTOR2_DRIVER_FEEDBACK_ID = 0x201,
-    MSG_MOTOR3_DRIVER_FEEDBACK_ID = 0x202,
-    MSG_MOTOR4_DRIVER_FEEDBACK_ID = 0x203,
-    MSG_LAST_ID
-};
-
-static uint8_t Agilex_CANMsgChecksum(uint16_t id, uint8_t *data, uint8_t dlc)
-{
-    uint8_t checksum = 0x00;
-    checksum = (uint8_t)(id & 0x00ff) + (uint8_t)(id >> 8) + dlc;
-    for (int i = 0; i < (dlc - 1); ++i)
-        checksum += data[i];
-    return checksum;
-};
-
-/*------------------------- Motion Control Message -------------------------*/
-
-enum ControlMode
-{
-    REMOTE_MODE = 0x00,
-    CMD_CAN_MODE = 0x01,
-    CMD_UART_MODE = 0x02
-};
-
-enum FaultClearFlag
-{
-    NO_FAULT = 0x00,
-    BAT_UNDER_VOL = 0x01,
-    BAT_OVER_VOL = 0x02,
-    MOTOR1_COMM = 0x03,
-    MOTOR2_COMM = 0x04,
-    MOTOR3_COMM = 0x05,
-    MOTOR4_COMM = 0x06,
-    MOTOR_DRV_OVERHEAT = 0x07,
-    MOTOR_OVERCURRENT = 0x08
-};
-
-typedef struct
-{
-    const uint16_t id = MSG_MOTION_CONTROL_ID;
-    const uint8_t dlc = 0x08;
-    union {
-        struct CmdDef
-        {
-            uint8_t control_mode;
-            uint8_t fault_clear_flag;
-            int8_t linear_velocity_cmd;
-            int8_t angular_velocity_cmd;
-            uint8_t reserved0;
-            uint8_t reserved1;
-            uint8_t count;
-            uint8_t checksum;
-        } cmd;
-        uint8_t raw[8];
-    } data;
-} MotionControlMessage;
-
-/*-------------------------- Light Control Message -------------------------*/
-
-enum LightControlFlag
-{
-    DISABLE_LIGHT_CTRL = 0x00,
-    ENABLE_LIGHT_CTRL = 0x01
-};
-
-enum LightMode
-{
-    CONST_OFF = 0x00,
-    CONST_ON = 0x01,
-    BREATH = 0x02,
-    CUSTOM = 0x03
-};
-
-typedef struct
-{
-    const uint16_t id = MSG_LIGHT_CONTROL_ID;
-    const uint8_t dlc = 0x08;
-    union {
-        struct CmdDef
-        {
-            uint8_t light_ctrl_enable;
-            uint8_t front_light_mode;
-            uint8_t front_light_custom;
-            uint8_t rear_light_mode;
-            uint8_t rear_light_custom;
-            uint8_t reserved0;
-            uint8_t count;
-            uint8_t checksum;
-        } cmd;
-        uint8_t raw[8];
-    } data;
-} LightControlMessage;
-
-/*--------------------- Motion Control Feedback Message --------------------*/
-
-typedef struct
-{
-    const uint16_t id = MSG_MOTION_CONTROL_FEEDBACK_ID;
-    const uint8_t dlc = 0x08;
-    union {
-        struct StatusDef
-        {
-            struct {
-                uint8_t high_byte;
-                uint8_t low_byte;
-            } linear_velocity;
-            struct
-            {
-                uint8_t high_byte;
-                uint8_t low_byte;
-            } angular_velocity;
-            uint8_t reserved0;
-            uint8_t reserved1;
-            uint8_t count;
-            uint8_t checksum;
-        } status;
-        uint8_t raw[8];
-    } data;
-} MotionStatusMessage;
-
-/*---------------------- Light Control Feedback Message --------------------*/
-
-typedef struct
-{
-    const uint16_t id = MSG_LIGHT_CONTROL_FEEDBACK_ID;
-    const uint8_t dlc = 0x08;
-    union {
-        struct StatusDef
-        {
-            uint8_t light_ctrl_enable;
-            uint8_t front_light_mode;
-            uint8_t front_light_custom;
-            uint8_t rear_light_mode;
-            uint8_t rear_light_custom;
-            uint8_t reserved0;
-            uint8_t count;
-            uint8_t checksum;
-        } status;
-        uint8_t raw[8];
-    } data;
-} LightStatusMessage;
-
-/*---------------------- System Status Feedback Message --------------------*/
-
-enum BaseState
-{
-    BASE_NORMAL,
-    BASE_ESTOP,
-    BASE_EXCEPTION
-};
-
-enum FaultBits
-{
-    CAN_CHECKSUM_ERROR = 0x0100,
-    MOTOR_DRV_OVERHEAT_W = 0x0200,
-    MOTOR_OVERCURRENT_W = 0x0400,
-    BAT_UNDER_VOL_W = 0x0800,
-
-    BAT_UNDER_VOL_F = 0x01,
-    BAT_OVER_VOL_F = 0x02,
-    MOTOR1_COMM_F = 0x04,
-    MOTOR2_COMM_F = 0x08,
-    MOTOR3_COMM_F = 0x10,
-    MOTOR4_COMM_F = 0x20,
-    MOTOR_DRV_OVERHEAT_F = 0x40,
-    MOTOR_OVERCURRENT_F = 0x80
-};
-
-typedef struct
-{
-    const uint16_t id = MSG_SYSTEM_STATUS_FEEDBACK_ID;
-    const uint8_t dlc = 0x08;
-    union {
-        struct StatusDef
-        {
-            uint8_t base_state;
-            uint8_t control_mode;
-            struct
-            {
-                uint8_t high_byte;
-                uint8_t low_byte;
-            } battery_voltage;
-            struct
-            {
-                uint8_t high_byte;
-                uint8_t low_byte;
-            } fault_code;
-            uint8_t count;
-            uint8_t checksum;
-        } status;
-        uint8_t raw[8];
-    } data;
-} SystemStatusMessage;
-
-/*--------------------- Motor 1 Driver Feedback Message --------------------*/
-
-typedef struct
-{
-    const uint16_t id = MSG_MOTOR1_DRIVER_FEEDBACK_ID;
-    const uint8_t dlc = 0x08;
-    union {
-        struct StatusDef
-        {
-            struct
-            {
-                uint8_t high_byte;
-                uint8_t low_byte;
-            } current;
-            struct
-            {
-                uint8_t high_byte;
-                uint8_t low_byte;
-            } rpm;
-            int8_t temperature;
-            uint8_t reserved0;
-            uint8_t count;
-            uint8_t checksum;
-        } status;
-        uint8_t raw[8];
-    } data;
-} Motor1DriverStatusMessage;
-
-/*--------------------- Motor 2 Driver Feedback Message --------------------*/
-
-typedef struct
-{
-    const uint16_t id = MSG_MOTOR2_DRIVER_FEEDBACK_ID;
-    const uint8_t dlc = 0x08;
-    union {
-        struct StatusDef
-        {
-            struct
-            {
-                uint8_t high_byte;
-                uint8_t low_byte;
-            } current;
-            struct
-            {
-                uint8_t high_byte;
-                uint8_t low_byte;
-            } rpm;
-            int8_t temperature;
-            uint8_t reserved0;
-            uint8_t count;
-            uint8_t checksum;
-        } status;
-        uint8_t raw[8];
-    } data;
-} Motor2DriverStatusMessage;
-
-/*--------------------- Motor 3 Driver Feedback Message --------------------*/
-
-typedef struct
-{
-    const uint16_t id = MSG_MOTOR3_DRIVER_FEEDBACK_ID;
-    const uint8_t dlc = 0x08;
-    union {
-        struct StatusDef
-        {
-            struct
-            {
-                uint8_t high_byte;
-                uint8_t low_byte;
-            } current;
-            struct
-            {
-                uint8_t high_byte;
-                uint8_t low_byte;
-            } rpm;
-            int8_t temperature;
-            uint8_t reserved0;
-            uint8_t count;
-            uint8_t checksum;
-        } status;
-        uint8_t raw[8];
-    } data;
-} Motor3DriverStatusMessage;
-
-/*--------------------- Motor 4 Driver Feedback Message --------------------*/
-
-typedef struct
-{
-    const uint16_t id = MSG_MOTOR4_DRIVER_FEEDBACK_ID;
-    const uint8_t dlc = 0x08;
-    union {
-        struct StatusDef
-        {
-            struct
-            {
-                uint8_t high_byte;
-                uint8_t low_byte;
-            } current;
-            struct
-            {
-                uint8_t high_byte;
-                uint8_t low_byte;
-            } rpm;
-            int8_t temperature;
-            uint8_t reserved0;
-            uint8_t count;
-            uint8_t checksum;
-        } status;
-        uint8_t raw[8];
-    } data;
-} Motor4DriverStatusMessage;
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif /* SCOUT_CAN_PROTOCOL_H */

scout_base/src/scout_sdk/src/sdk_core/scout_base/include/scout/scout_io.hpp

@@ -1,21 +0,0 @@
-/* 
- * scout_io.hpp
- * 
- * Created on: May 04, 2019 22:04
- * Description: 
- * 
- * Copyright (c) 2019 Ruixiang Du (rdu)
- */
-
-#ifndef SCOUT_IO_HPP
-#define SCOUT_IO_HPP
-
-namespace scout
-{
-class ScoutIO
-{
-public:
-};
-} // namespace scout
-
-#endif /* SCOUT_IO_HPP */

scout_base/src/scout_sdk/src/sdk_core/scout_base/include/scout/scout_serial.hpp

@@ -1,66 +0,0 @@
-/* 
- * scout_serial.h
- * 
- * Created on: May 05, 2019 11:35
- * Description: 
- * 
- * Copyright (c) 2019 Ruixiang Du (rdu)
- */
-
-#ifndef SCOUT_SERIAL_H
-#define SCOUT_SERIAL_H
-
-#include "scout_io/scout_io.h"
-
-namespace scout
-{
-struct Frame_t
-{
-    unsigned short Header;
-    unsigned char Len;
-    unsigned char Typedef;
-    unsigned char Count;
-    unsigned char Time_Out;
-    short Linear;
-    short Angular;
-    unsigned short CheckSum;
-};
-
-struct Cmd_t
-{
-    unsigned short Linear;
-    unsigned short Angular;
-    bool IsUpdata;
-};
-
-typedef enum
-{
-    eHead = 0,
-    eLen = 1,
-    eTypedef = 3,
-    eChecksum = 2
-} state_t;
-
-class ScoutSerial : public ScoutIO
-{
-public:
-    Cmd_t Get_dataOfTransport();
-    void Set_dataOfTransport(Cmd_t *CMD);
-    void Read_DataOfChassis_Loop(void);
-    void Send_SpeedToChassis(short Angular, short Linear, unsigned char Count);
-    void Send_Speed(short Angular, short Linear, unsigned char Count);
-    unsigned short Checksum(unsigned char *data, unsigned short len);
-    void Find_NextHead();
-};
-
-Cmd_t Get_dataOfTransport();
-void Set_dataOfTransport(Cmd_t *CMD);
-void Read_DataOfChassis_Loop(void);
-void Send_SpeedToChassis(short Angular, short Linear, unsigned char Count);
-void Send_Speed(short Angular, short Linear, unsigned char Count);
-unsigned short Checksum(unsigned char *data, unsigned short len);
-void Find_NextHead();
-void Send_SpeedToChassis(short Angular, short Linear, unsigned char Count);
-} // namespace scout
-
-#endif /* SCOUT_SERIAL_H */

scout_base/src/scout_sdk/src/sdk_core/scout_base/include/scout/scout_serial_protocol.h

@@ -1,36 +0,0 @@
-/* 
- * scout_serial_protocol.hpp
- * 
- * Created on: Jun 05, 2019 02:34
- * Description: 
- * 
- * Copyright (c) 2019 Ruixiang Du (rdu)
- */
-
-#ifndef SCOUT_SERIAL_PROTOCOL_HPP
-#define SCOUT_SERIAL_PROTOCOL_HPP
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-struct ScoutSerialProtocol
-{
-    struct Frame
-    {
-        unsigned short Header;
-        unsigned char Len;
-        unsigned char Typedef;
-        unsigned char Count;
-        unsigned char Time_Out;
-        short Linear;
-        short Angular;
-        unsigned short CheckSum;
-    };
-};
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif /* SCOUT_SERIAL_PROTOCOL_HPP */

scout_base/src/scout_sdk/src/sdk_core/scout_base/include/scout/scout_state.hpp

@@ -1,61 +0,0 @@
-/* 
- * scout_state.hpp
- * 
- * Created on: Jun 11, 2019 08:48
- * Description: 
- * 
- * Copyright (c) 2019 Ruixiang Du (rdu)
- */
-
-#ifndef SCOUT_STATE_HPP
-#define SCOUT_STATE_HPP
-
-#include <cstdint>
-#include <iostream>
-
-namespace wescore
-{
-struct ScoutState
-{
-    enum MotorID
-    {
-        FRONT_RIGHT = 0,
-        FRONT_LEFT = 1,
-        REAR_LEFT = 2,
-        REAR_RIGHT = 3
-    };
-
-    struct MotorState
-    {
-        double current = 0; // in A
-        double rpm = 0;
-        double temperature = 0;
-    };
-
-    struct LightState
-    {
-        uint8_t mode = 0;
-        uint8_t custom_value = 0;
-    };
-
-    // base state
-    uint8_t base_state = 0;
-    uint8_t control_mode = 0;
-    uint16_t fault_code = 0;
-    double battery_voltage = 0.0;
-
-    // motor state
-    MotorState motor_states[4];
-
-    // light state
-    bool light_control_enabled = false;
-    LightState front_light_state;
-    LightState rear_light_state;
-
-    // motion state
-    double linear_velocity;
-    double angular_velocity;
-};
-} // namespace wescore
-
-#endif /* SCOUT_STATE_HPP */

scout_base/src/scout_sdk/src/sdk_core/scout_base/src/scout_base.cpp

@@ -1,316 +0,0 @@
-#include "scout/scout_base.hpp"
-
-#include <string>
-#include <cstring>
-#include <iostream>
-#include <algorithm>
-#include <array>
-#include <chrono>
-#include <cstdint>
-#include <ratio>
-#include <thread>
-
-#include "scout/scout_can_protocol.h"
-
-namespace
-{
-// source: https://github.com/rxdu/stopwatch
-struct StopWatch
-{
-    using Clock = std::chrono::high_resolution_clock;
-    using time_point = typename Clock::time_point;
-    using duration = typename Clock::duration;
-
-    StopWatch() { tic_point = Clock::now(); };
-
-    time_point tic_point;
-
-    void tic()
-    {
-        tic_point = Clock::now();
-    };
-
-    double toc()
-    {
-        return std::chrono::duration_cast<std::chrono::microseconds>(Clock::now() - tic_point).count() / 1000000.0;
-    };
-
-    // for different precisions
-    double stoc()
-    {
-        return std::chrono::duration_cast<std::chrono::seconds>(Clock::now() - tic_point).count();
-    };
-
-    double mtoc()
-    {
-        return std::chrono::duration_cast<std::chrono::milliseconds>(Clock::now() - tic_point).count();
-    };
-
-    double utoc()
-    {
-        return std::chrono::duration_cast<std::chrono::microseconds>(Clock::now() - tic_point).count();
-    };
-
-    double ntoc()
-    {
-        return std::chrono::duration_cast<std::chrono::nanoseconds>(Clock::now() - tic_point).count();
-    };
-
-    // you have to call tic() before calling this function
-    void sleep_until_ms(int64_t period_ms)
-    {
-        int64_t duration = period_ms - std::chrono::duration_cast<std::chrono::milliseconds>(Clock::now() - tic_point).count();
-
-        if (duration > 0)
-            std::this_thread::sleep_for(std::chrono::milliseconds(duration));
-    };
-
-    void sleep_until_us(int64_t period_us)
-    {
-        int64_t duration = period_us - std::chrono::duration_cast<std::chrono::microseconds>(Clock::now() - tic_point).count();
-
-        if (duration > 0)
-            std::this_thread::sleep_for(std::chrono::microseconds(duration));
-    };
-};
-} // namespace
-
-namespace wescore
-{
-ScoutBase::~ScoutBase()
-{
-    if (cmd_thread_.joinable())
-        cmd_thread_.join();
-}
-
-void ScoutBase::ConnectCANBus(const std::string &can_if_name)
-{
-    can_if_ = std::make_shared<ASyncCAN>(can_if_name);
-
-    can_if_->set_receive_callback(std::bind(&ScoutBase::ParseCANFrame, this, std::placeholders::_1));
-}
-
-void ScoutBase::StartCmdThread(int32_t period_ms)
-{
-    cmd_thread_ = std::thread(std::bind(&ScoutBase::ControlLoop, this, period_ms));
-    cmd_thread_started_ = true;
-}
-
-void ScoutBase::ControlLoop(int32_t period_ms)
-{
-    StopWatch ctrl_sw;
-    uint8_t cmd_count = 0;
-    uint8_t light_cmd_count = 0;
-    while (true)
-    {
-        ctrl_sw.tic();
-
-        // motion control message
-        {
-            MotionControlMessage m_msg;
-
-            m_msg.data.cmd.control_mode = CMD_CAN_MODE;
-
-            motion_cmd_mutex_.lock();
-            m_msg.data.cmd.fault_clear_flag = static_cast<uint8_t>(current_motion_cmd_.fault_clear_flag);
-            m_msg.data.cmd.linear_velocity_cmd = current_motion_cmd_.linear_velocity;
-            m_msg.data.cmd.angular_velocity_cmd = current_motion_cmd_.angular_velocity;
-            motion_cmd_mutex_.unlock();
-
-            m_msg.data.cmd.reserved0 = 0;
-            m_msg.data.cmd.reserved1 = 0;
-            m_msg.data.cmd.count = cmd_count++;
-            m_msg.data.cmd.checksum = Agilex_CANMsgChecksum(m_msg.id, m_msg.data.raw, m_msg.dlc);
-
-            // send to can bus
-            can_frame m_frame;
-            m_frame.can_id = m_msg.id;
-            m_frame.can_dlc = m_msg.dlc;
-            std::memcpy(m_frame.data, m_msg.data.raw, m_msg.dlc * sizeof(uint8_t));
-            can_if_->send_frame(m_frame);
-        }
-
-        // check if there is request for light control
-        if (light_ctrl_requested_)
-        {
-            LightControlMessage l_msg;
-
-            light_cmd_mutex_.lock();
-            if (light_ctrl_enabled_)
-            {
-                l_msg.data.cmd.light_ctrl_enable = ENABLE_LIGHT_CTRL;
-
-                l_msg.data.cmd.front_light_mode = static_cast<uint8_t>(current_light_cmd_.front_mode);
-                l_msg.data.cmd.front_light_custom = current_light_cmd_.front_custom_value;
-                l_msg.data.cmd.rear_light_mode = static_cast<uint8_t>(current_light_cmd_.rear_mode);
-                l_msg.data.cmd.rear_light_custom = current_light_cmd_.rear_custom_value;
-            }
-            else
-            {
-                l_msg.data.cmd.light_ctrl_enable = DISABLE_LIGHT_CTRL;
-
-                l_msg.data.cmd.front_light_mode = CONST_OFF;
-                l_msg.data.cmd.front_light_custom = 0;
-                l_msg.data.cmd.rear_light_mode = CONST_OFF;
-                l_msg.data.cmd.rear_light_custom = 0;
-            }
-            light_ctrl_requested_ = false;
-            light_cmd_mutex_.unlock();
-
-            l_msg.data.cmd.reserved0 = 0;
-            l_msg.data.cmd.count = light_cmd_count++;
-            l_msg.data.cmd.checksum = Agilex_CANMsgChecksum(l_msg.id, l_msg.data.raw, l_msg.dlc);
-
-            can_frame l_frame;
-            l_frame.can_id = l_msg.id;
-            l_frame.can_dlc = l_msg.dlc;
-            std::memcpy(l_frame.data, l_msg.data.raw, l_msg.dlc * sizeof(uint8_t));
-            can_if_->send_frame(l_frame);
-        }
-
-        ctrl_sw.sleep_until_ms(period_ms);
-        // std::cout << "control loop update frequency: " << 1.0 / ctrl_sw.toc() << std::endl;
-    }
-}
-
-ScoutState ScoutBase::GetScoutState()
-{
-    std::lock_guard<std::mutex> guard(scout_state_mutex_);
-    return scout_state_;
-}
-
-void ScoutBase::SetMotionCommand(double linear_vel, double angular_vel, ScoutMotionCmd::FaultClearFlag fault_clr_flag)
-{
-    // make sure cmd thread is started before attempting to send commands
-    if (!cmd_thread_started_)
-        StartCmdThread(10);
-
-    if (linear_vel < ScoutMotionCmd::min_linear_velocity)
-        linear_vel = ScoutMotionCmd::min_linear_velocity;
-    if (linear_vel > ScoutMotionCmd::max_linear_velocity)
-        linear_vel = ScoutMotionCmd::max_linear_velocity;
-    if (angular_vel < ScoutMotionCmd::min_angular_velocity)
-        angular_vel = ScoutMotionCmd::min_angular_velocity;
-    if (angular_vel > ScoutMotionCmd::max_angular_velocity)
-        angular_vel = ScoutMotionCmd::max_angular_velocity;
-
-    std::lock_guard<std::mutex> guard(motion_cmd_mutex_);
-    current_motion_cmd_.linear_velocity = static_cast<uint8_t>(linear_vel / ScoutMotionCmd::max_linear_velocity * 100.0);
-    current_motion_cmd_.angular_velocity = static_cast<uint8_t>(angular_vel / ScoutMotionCmd::max_angular_velocity * 100.0);
-    current_motion_cmd_.fault_clear_flag = fault_clr_flag;
-}
-
-void ScoutBase::SetLightCommand(ScoutLightCmd cmd)
-{
-    std::lock_guard<std::mutex> guard(light_cmd_mutex_);
-    current_light_cmd_ = cmd;
-    light_ctrl_enabled_ = true;
-    light_ctrl_requested_ = true;
-}
-
-void ScoutBase::DisableLightCmdControl()
-{
-    std::lock_guard<std::mutex> guard(light_cmd_mutex_);
-    light_ctrl_enabled_ = false;
-    light_ctrl_requested_ = true;
-}
-
-void ScoutBase::ParseCANFrame(can_frame *rx_frame)
-{
-    // validate checksum, discard frame if fails
-    if (!rx_frame->data[7] == Agilex_CANMsgChecksum(rx_frame->can_id, rx_frame->data, rx_frame->can_dlc))
-    {
-        std::cerr << "ERROR: checksum mismatch, discard frame with id " << rx_frame->can_id << std::endl;
-        return;
-    }
-
-    // otherwise, update robot state with new frame
-    std::lock_guard<std::mutex> guard(scout_state_mutex_);
-    UpdateScoutState(scout_state_, rx_frame);
-}
-
-void ScoutBase::UpdateScoutState(ScoutState &state, can_frame *rx_frame)
-{
-    switch (rx_frame->can_id)
-    {
-    case MSG_MOTION_CONTROL_FEEDBACK_ID:
-    {
-        // std::cout << "motion control feedback received" << std::endl;
-        MotionStatusMessage msg;
-        std::memcpy(msg.data.raw, rx_frame->data, rx_frame->can_dlc * sizeof(uint8_t));
-        state.linear_velocity = static_cast<int16_t>(static_cast<uint16_t>(msg.data.status.linear_velocity.low_byte) | static_cast<uint16_t>(msg.data.status.linear_velocity.high_byte) << 8) / 1000.0;
-        state.angular_velocity = static_cast<int16_t>(static_cast<uint16_t>(msg.data.status.angular_velocity.low_byte) | static_cast<uint16_t>(msg.data.status.angular_velocity.high_byte) << 8) / 1000.0;
-        break;
-    }
-    case MSG_LIGHT_CONTROL_FEEDBACK_ID:
-    {
-        // std::cout << "light control feedback received" << std::endl;
-        LightStatusMessage msg;
-        std::memcpy(msg.data.raw, rx_frame->data, rx_frame->can_dlc * sizeof(uint8_t));
-        if (msg.data.status.light_ctrl_enable == DISABLE_LIGHT_CTRL)
-            state.light_control_enabled = false;
-        else
-            state.light_control_enabled = true;
-        state.front_light_state.mode = msg.data.status.front_light_mode;
-        state.front_light_state.custom_value = msg.data.status.front_light_custom;
-        state.rear_light_state.mode = msg.data.status.rear_light_mode;
-        state.rear_light_state.custom_value = msg.data.status.rear_light_custom;
-        break;
-    }
-    case MSG_SYSTEM_STATUS_FEEDBACK_ID:
-    {
-        // std::cout << "system status feedback received" << std::endl;
-        SystemStatusMessage msg;
-        std::memcpy(msg.data.raw, rx_frame->data, rx_frame->can_dlc * sizeof(uint8_t));
-        state.control_mode = msg.data.status.control_mode;
-        state.base_state = msg.data.status.base_state;
-        state.battery_voltage = (static_cast<uint16_t>(msg.data.status.battery_voltage.low_byte) | static_cast<uint16_t>(msg.data.status.battery_voltage.high_byte) << 8) / 10.0;
-        state.fault_code = (static_cast<uint16_t>(msg.data.status.fault_code.low_byte) | static_cast<uint16_t>(msg.data.status.fault_code.high_byte) << 8);
-        break;
-    }
-    case MSG_MOTOR1_DRIVER_FEEDBACK_ID:
-    {
-        // std::cout << "motor 1 driver feedback received" << std::endl;
-        Motor1DriverStatusMessage msg;
-        std::memcpy(msg.data.raw, rx_frame->data, rx_frame->can_dlc * sizeof(uint8_t));
-        state.motor_states[0].current = (static_cast<uint16_t>(msg.data.status.current.low_byte) | static_cast<uint16_t>(msg.data.status.current.high_byte) << 8) / 10.0;
-        state.motor_states[0].rpm = static_cast<int16_t>(static_cast<uint16_t>(msg.data.status.rpm.low_byte) | static_cast<uint16_t>(msg.data.status.rpm.high_byte) << 8);
-        ;
-        state.motor_states[0].temperature = msg.data.status.temperature;
-        break;
-    }
-    case MSG_MOTOR2_DRIVER_FEEDBACK_ID:
-    {
-        // std::cout << "motor 2 driver feedback received" << std::endl;
-        Motor2DriverStatusMessage msg;
-        std::memcpy(msg.data.raw, rx_frame->data, rx_frame->can_dlc * sizeof(uint8_t));
-        state.motor_states[1].current = (static_cast<uint16_t>(msg.data.status.current.low_byte) | static_cast<uint16_t>(msg.data.status.current.high_byte) << 8) / 10.0;
-        state.motor_states[1].rpm = static_cast<int16_t>(static_cast<uint16_t>(msg.data.status.rpm.low_byte) | static_cast<uint16_t>(msg.data.status.rpm.high_byte) << 8);
-        ;
-        state.motor_states[1].temperature = msg.data.status.temperature;
-        break;
-    }
-    case MSG_MOTOR3_DRIVER_FEEDBACK_ID:
-    {
-        // std::cout << "motor 3 driver feedback received" << std::endl;
-        Motor3DriverStatusMessage msg;
-        std::memcpy(msg.data.raw, rx_frame->data, rx_frame->can_dlc * sizeof(uint8_t));
-        state.motor_states[2].current = (static_cast<uint16_t>(msg.data.status.current.low_byte) | static_cast<uint16_t>(msg.data.status.current.high_byte) << 8) / 10.0;
-        state.motor_states[2].rpm = static_cast<int16_t>(static_cast<uint16_t>(msg.data.status.rpm.low_byte) | static_cast<uint16_t>(msg.data.status.rpm.high_byte) << 8);
-        ;
-        state.motor_states[2].temperature = msg.data.status.temperature;
-        break;
-    }
-    case MSG_MOTOR4_DRIVER_FEEDBACK_ID:
-    {
-        // std::cout << "motor 4 driver feedback received" << std::endl;
-        Motor4DriverStatusMessage msg;
-        std::memcpy(msg.data.raw, rx_frame->data, rx_frame->can_dlc * sizeof(uint8_t));
-        state.motor_states[3].current = (static_cast<uint16_t>(msg.data.status.current.low_byte) | static_cast<uint16_t>(msg.data.status.current.high_byte) << 8) / 10.0;
-        state.motor_states[3].rpm = static_cast<int16_t>(static_cast<uint16_t>(msg.data.status.rpm.low_byte) | static_cast<uint16_t>(msg.data.status.rpm.high_byte) << 8);
-        state.motor_states[3].temperature = msg.data.status.temperature;
-        break;
-    }
-    }
-}
-} // namespace wescore

scout_base/src/scout_sdk/src/sdk_core/scout_base/tests/CMakeLists.txt

@@ -1,9 +0,0 @@
-# Dependency libraries
-#find_package(LIBRARY_NAME REQUIRED)
-
-# tests
-add_executable(test_scout_base test_scout_base.cpp)
-target_link_libraries(test_scout_base scoutbase)
-
-add_executable(test_can_msg test_can_msg.cpp)
-target_link_libraries(test_can_msg scoutbase)

scout_base/src/scout_sdk/src/sdk_core/scout_base/tests/test_can_msg.cpp

@@ -1,37 +0,0 @@
-#include <iostream>
-
-#include "scout/scout_can_protocol.h"
-
-void print_msg(uint8_t data[8])
-{
-    for (int i = 0; i < 8; ++i)
-        std::cout << std::hex << static_cast<int>(data[i]) << " ";
-    std::cout << std::dec << std::endl;
-}
-
-int main()
-{
-    MotionControlMessage msg;
-    msg.data.cmd.control_mode = CMD_CAN_MODE;
-    msg.data.cmd.fault_clear_flag = NO_FAULT;
-    msg.data.cmd.linear_velocity_cmd = 10;
-    msg.data.cmd.angular_velocity_cmd = 0;
-    msg.data.cmd.reserved0 = 0;
-    msg.data.cmd.reserved1 = 0;
-    msg.data.cmd.count = 0;
-    msg.data.cmd.checksum = Agilex_CANMsgChecksum(msg.id, msg.data.raw, msg.dlc);
-    print_msg(msg.data.raw);
-
-    LightControlMessage msg2;
-    msg2.data.cmd.light_ctrl_enable = DISABLE_LIGHT_CTRL;
-    msg2.data.cmd.front_light_mode = CONST_ON;
-    msg2.data.cmd.front_light_custom = 0;
-    msg2.data.cmd.rear_light_mode = CONST_ON;
-    msg2.data.cmd.rear_light_custom = 0;
-    msg2.data.cmd.reserved0 = 0;
-    msg2.data.cmd.count = 0;
-    msg2.data.cmd.checksum = Agilex_CANMsgChecksum(msg2.id, msg2.data.raw, msg2.dlc);
-    print_msg(msg2.data.raw);
-
-    return 0;
-}

scout_base/src/scout_sdk/src/sdk_core/scout_base/tests/test_scout_base.cpp

@@ -1,48 +0,0 @@
-#include <unistd.h>
-
-#include <thread>
-#include <mutex>
-#include <functional>
-#include <string>
-#include <iostream>
-#include <chrono>
-#include <cmath>
-
-#include "scout/scout_base.hpp"
-
-#define TEST_WITHOUT_SERIAL_HARDWARE
-
-using namespace wescore;
-
-int main(int argc, char **argv)
-{
-    ScoutBase scout;
-    scout.ConnectCANBus("can1");
-    scout.StartCmdThread(10);
-
-    scout.SetLightCommand({ScoutLightCmd::LightMode::CONST_ON, 0, ScoutLightCmd::LightMode::CONST_ON, 0});
-
-    int count = 0;
-    while (true)
-    {
-        scout.SetMotionCommand(0.5, 0.2);
-
-        if(count == 10)
-        {
-            // scout.SetLightCommand({ScoutLightCmd::LightMode::CONST_OFF, 0, ScoutLightCmd::LightMode::CONST_OFF, 0});
-            scout.DisableLightCmdControl();
-        }
-
-        auto state = scout.GetScoutState();
-        std::cout << "-------------------------------" << std::endl;
-        std::cout << "control mode: " << static_cast<int>(state.control_mode) << " , base state: " << static_cast<int>(state.base_state) << std::endl;
-        std::cout << "battery voltage: " << state.battery_voltage << std::endl;
-        std::cout << "velocity (linear, angular): " << state.linear_velocity << ", " << state.angular_velocity << std::endl;
-        std::cout << "-------------------------------" << std::endl;
-
-        sleep(1);
-        ++count;
-    }
-
-    return 0;
-}

scout_base/src/scout_sdk/src/sdk_core/unit_tests/CMakeLists.txt

@@ -1,13 +0,0 @@
-# Dependency libraries
-#find_package(LIBRARY_NAME REQUIRED)
-
-## Unit tests with GoogleTest
-set(GTEST_SRC
-    gtests/scout_can_protocol_test.cpp
-)
-add_executable(scout_sdk_test ${GTEST_SRC})
-target_link_libraries(scout_sdk_test gtest gtest_main scoutbase)
-target_include_directories(scout_sdk_test PUBLIC
-    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-    $<BUILD_INTERFACE:${GTEST_INCLUDE_DIRS}>
-    $<INSTALL_INTERFACE:include>)

scout_base/src/scout_sdk/src/sdk_core/unit_tests/gtests/scout_can_protocol_test.cpp

@@ -1,220 +0,0 @@
-/* 
- * scout_can_protocol_test.cpp
- * 
- * Created on: Jun 11, 2019 23:26
- * Description: 
- * 
- * Reference:
- * [1] https://cryptii.com/pipes/integer-encoder
- * 
- * Copyright (c) 2019 Ruixiang Du (rdu)
- */
-
-#include <stdio.h>
-#include <vector>
-
-#include "gtest/gtest.h"
-
-#include "scout/scout_base.hpp"
-#include "scout/scout_can_protocol.h"
-
-using namespace wescore;
-
-struct ScoutCANProtocolTest : testing::Test
-{
-    ScoutCANProtocolTest()
-    {
-        // control frames
-        motion_ctrl_frame.can_id = MSG_MOTION_CONTROL_ID;
-        motion_ctrl_frame.can_dlc = 8;
-        motion_ctrl_frame.data[0] = 0x01;
-        motion_ctrl_frame.data[1] = 0x00;
-        motion_ctrl_frame.data[2] = 0x0a;
-        motion_ctrl_frame.data[3] = 0x00;
-        motion_ctrl_frame.data[4] = 0x00;
-        motion_ctrl_frame.data[5] = 0x00;
-        motion_ctrl_frame.data[6] = 0x00;
-        motion_ctrl_frame.data[7] = Agilex_CANMsgChecksum(motion_ctrl_frame.can_id,
-                                                          motion_ctrl_frame.data,
-                                                          motion_ctrl_frame.can_dlc);
-
-        light_ctrl_frame.can_id = MSG_LIGHT_CONTROL_ID;
-        light_ctrl_frame.can_dlc = 8;
-        light_ctrl_frame.data[0] = 0x01;
-        light_ctrl_frame.data[1] = 0x00;
-        light_ctrl_frame.data[2] = 0x0a;
-        light_ctrl_frame.data[3] = 0x00;
-        light_ctrl_frame.data[4] = 0x00;
-        light_ctrl_frame.data[5] = 0x00;
-        light_ctrl_frame.data[6] = 0x00;
-        light_ctrl_frame.data[7] = Agilex_CANMsgChecksum(light_ctrl_frame.can_id,
-                                                         light_ctrl_frame.data,
-                                                         light_ctrl_frame.can_dlc);
-
-        // feedback frames
-        motion_status_frame.can_id = MSG_MOTION_CONTROL_FEEDBACK_ID;
-        motion_status_frame.can_dlc = 8;
-        motion_status_frame.data[0] = 0x04;
-        motion_status_frame.data[1] = 0xe8; // 1.256
-        motion_status_frame.data[2] = 0x00;
-        motion_status_frame.data[3] = 0x7b; // 0.123
-        motion_status_frame.data[4] = 0x00;
-        motion_status_frame.data[5] = 0x00;
-        motion_status_frame.data[6] = 0x00;
-        motion_status_frame.data[7] = Agilex_CANMsgChecksum(motion_status_frame.can_id,
-                                                            motion_status_frame.data,
-                                                            motion_status_frame.can_dlc);
-
-        motion_status_frame2.can_id = MSG_MOTION_CONTROL_FEEDBACK_ID;
-        motion_status_frame2.can_dlc = 8;
-        motion_status_frame2.data[0] = 0xfb;
-        motion_status_frame2.data[1] = 0x18; // -1.256
-        motion_status_frame2.data[2] = 0xff;
-        motion_status_frame2.data[3] = 0x85; // -0.123
-        motion_status_frame2.data[4] = 0x00;
-        motion_status_frame2.data[5] = 0x00;
-        motion_status_frame2.data[6] = 0x00;
-        motion_status_frame2.data[7] = Agilex_CANMsgChecksum(motion_status_frame2.can_id,
-                                                            motion_status_frame2.data,
-                                                            motion_status_frame2.can_dlc);
-
-        light_status_frame.can_id = MSG_LIGHT_CONTROL_FEEDBACK_ID;
-        light_status_frame.can_dlc = 8;
-        light_status_frame.data[0] = 0x01;
-        light_status_frame.data[1] = 0x03;
-        light_status_frame.data[2] = 0x55; // 85
-        light_status_frame.data[3] = 0x02;
-        light_status_frame.data[4] = 0x32; // 50
-        light_status_frame.data[5] = 0x00;
-        light_status_frame.data[6] = 0x00;
-        light_status_frame.data[7] = Agilex_CANMsgChecksum(light_status_frame.can_id,
-                                                           light_status_frame.data,
-                                                           light_status_frame.can_dlc);
-
-        system_status_frame.can_id = MSG_SYSTEM_STATUS_FEEDBACK_ID;
-        system_status_frame.can_dlc = 8;
-        system_status_frame.data[0] = 0x01;
-        system_status_frame.data[1] = 0x01;
-        system_status_frame.data[2] = 0x01;
-        system_status_frame.data[3] = 0x09; // 26.5
-        system_status_frame.data[4] = 0xf0;
-        system_status_frame.data[5] = 0xff;
-        system_status_frame.data[6] = 0x00;
-        system_status_frame.data[7] = Agilex_CANMsgChecksum(system_status_frame.can_id,
-                                                            system_status_frame.data,
-                                                            system_status_frame.can_dlc);
-
-        motor1_driver_status_frame.can_id = MSG_MOTOR1_DRIVER_FEEDBACK_ID;
-        motor1_driver_status_frame.can_dlc = 8;
-        motor1_driver_status_frame.data[0] = 0x00;
-        motor1_driver_status_frame.data[1] = 0x7d;  // 12.5
-        motor1_driver_status_frame.data[2] = 0x04;
-        motor1_driver_status_frame.data[3] = 0xd2;  // 1234
-        motor1_driver_status_frame.data[4] = 0x38;  // 56
-        motor1_driver_status_frame.data[5] = 0x00;
-        motor1_driver_status_frame.data[6] = 0x00;
-        motor1_driver_status_frame.data[7] = Agilex_CANMsgChecksum(motor1_driver_status_frame.can_id,
-                                                                   motor1_driver_status_frame.data,
-                                                                   motor1_driver_status_frame.can_dlc);
-
-        motor2_driver_status_frame = motor1_driver_status_frame;
-        motor2_driver_status_frame.can_id = MSG_MOTOR2_DRIVER_FEEDBACK_ID;
-        motor2_driver_status_frame.data[2] = 0xfb;
-        motor2_driver_status_frame.data[3] = 0x2e;  // -1234
-        motor2_driver_status_frame.data[4] = 0xc8;  // -56
-        motor2_driver_status_frame.data[7] = Agilex_CANMsgChecksum(motor2_driver_status_frame.can_id,
-                                                                   motor2_driver_status_frame.data,
-                                                                   motor2_driver_status_frame.can_dlc);
-
-        motor3_driver_status_frame = motor1_driver_status_frame;
-        motor3_driver_status_frame.can_id = MSG_MOTOR3_DRIVER_FEEDBACK_ID;
-        motor3_driver_status_frame.data[7] = Agilex_CANMsgChecksum(motor3_driver_status_frame.can_id,
-                                                                   motor3_driver_status_frame.data,
-                                                                   motor3_driver_status_frame.can_dlc);
-
-        motor4_driver_status_frame = motor2_driver_status_frame;
-        motor4_driver_status_frame.can_id = MSG_MOTOR4_DRIVER_FEEDBACK_ID;
-        motor4_driver_status_frame.data[7] = Agilex_CANMsgChecksum(motor4_driver_status_frame.can_id,
-                                                                   motor4_driver_status_frame.data,
-                                                                   motor4_driver_status_frame.can_dlc);
-    }
-
-    ScoutBase scout_base;
-
-    can_frame motion_ctrl_frame;
-    can_frame light_ctrl_frame;
-
-    can_frame motion_status_frame;
-    can_frame motion_status_frame2;
-
-    can_frame light_status_frame;
-    can_frame system_status_frame;
-    can_frame motor1_driver_status_frame;
-    can_frame motor2_driver_status_frame;
-    can_frame motor3_driver_status_frame;
-    can_frame motor4_driver_status_frame;
-};
-
-TEST_F(ScoutCANProtocolTest, MotionStatusMsg)
-{
-    ScoutState state;
-    scout_base.UpdateScoutState(state, &motion_status_frame);
-
-    ASSERT_FLOAT_EQ(state.linear_velocity, 1.256);
-    ASSERT_FLOAT_EQ(state.angular_velocity, 0.123);
-
-    ScoutState state2;
-    scout_base.UpdateScoutState(state2, &motion_status_frame2);
-
-    ASSERT_FLOAT_EQ(state2.linear_velocity, -1.256);
-    ASSERT_FLOAT_EQ(state2.angular_velocity, -0.123);
-}
-
-TEST_F(ScoutCANProtocolTest, LightStatusMsg)
-{
-    ScoutState state;
-    scout_base.UpdateScoutState(state, &light_status_frame);
-
-    ASSERT_EQ(state.light_control_enabled, true);
-    ASSERT_EQ(state.front_light_state.mode, 0x03);
-    ASSERT_EQ(state.front_light_state.custom_value, 85);
-    ASSERT_EQ(state.rear_light_state.mode, 0x02);
-    ASSERT_EQ(state.rear_light_state.custom_value, 50);
-}
-
-TEST_F(ScoutCANProtocolTest, SystemStatusMsg)
-{
-    ScoutState state;
-    scout_base.UpdateScoutState(state, &system_status_frame);
-
-    ASSERT_EQ(state.base_state, true);
-    ASSERT_EQ(state.control_mode, 0x01);
-    ASSERT_FLOAT_EQ(state.battery_voltage, 26.5);
-    ASSERT_EQ(state.fault_code, 0xf0ff);
-}
-
-TEST_F(ScoutCANProtocolTest, MotorDriverStatusMsg)
-{
-    ScoutState state;
-    scout_base.UpdateScoutState(state, &motor1_driver_status_frame);
-    scout_base.UpdateScoutState(state, &motor2_driver_status_frame);
-    scout_base.UpdateScoutState(state, &motor3_driver_status_frame);
-    scout_base.UpdateScoutState(state, &motor4_driver_status_frame);
-
-    ASSERT_FLOAT_EQ(state.motor_states[0].current, 12.5);
-    ASSERT_FLOAT_EQ(state.motor_states[0].rpm, 1234);
-    ASSERT_FLOAT_EQ(state.motor_states[0].temperature, 56);
-    
-    ASSERT_FLOAT_EQ(state.motor_states[1].current, 12.5);
-    ASSERT_FLOAT_EQ(state.motor_states[1].rpm, -1234);
-    ASSERT_FLOAT_EQ(state.motor_states[1].temperature, -56);
-
-    ASSERT_FLOAT_EQ(state.motor_states[2].current, 12.5);
-    ASSERT_FLOAT_EQ(state.motor_states[2].rpm, 1234);
-    ASSERT_FLOAT_EQ(state.motor_states[2].temperature, 56);
-
-    ASSERT_FLOAT_EQ(state.motor_states[3].current, 12.5);
-    ASSERT_FLOAT_EQ(state.motor_states[3].rpm, -1234);
-    ASSERT_FLOAT_EQ(state.motor_states[3].temperature, -56);
-}
-

scout_base/src/scout_sdk/src/third_party/CMakeLists.txt

@@ -1,6 +0,0 @@
-## Add sub source directories
-add_subdirectory(asio)
-
-if(BUILD_TESTS)
-add_subdirectory(googletest)
-endif()

scout_base/src/scout_sdk/src/third_party/asio/CMakeLists.txt

@@ -1,9 +0,0 @@
-cmake_minimum_required(VERSION 3.0)
-project(asio)
-
-# ascent library
-add_library(asio INTERFACE)
-target_compile_definitions(asio INTERFACE "-DASIO_STANDALONE")
-target_include_directories(asio INTERFACE
-	$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-	$<INSTALL_INTERFACE:include>)

scout_base/src/scout_sdk/src/third_party/asio/COPYING

@@ -1,4 +0,0 @@
-Copyright (c) 2003-2018 Christopher M. Kohlhoff (chris at kohlhoff dot com)
-
-Distributed under the Boost Software License, Version 1.0. (See accompanying
-file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt)

scout_base/src/scout_sdk/src/third_party/asio/INSTALL

@@ -1,5 +0,0 @@
-See doc/index.html for information on:
-  - External dependencies
-  - Using asio
-  - Supported platforms
-  - How to build the tests and examples

scout_base/src/scout_sdk/src/third_party/asio/LICENSE_1_0.txt

@@ -1,23 +0,0 @@
-Boost Software License - Version 1.0 - August 17th, 2003
-
-Permission is hereby granted, free of charge, to any person or organization
-obtaining a copy of the software and accompanying documentation covered by
-this license (the "Software") to use, reproduce, display, distribute,
-execute, and transmit the Software, and to prepare derivative works of the
-Software, and to permit third-parties to whom the Software is furnished to
-do so, all subject to the following:
-
-The copyright notices in the Software and this entire statement, including
-the above license grant, this restriction and the following disclaimer,
-must be included in all copies of the Software, in whole or in part, and
-all derivative works of the Software, unless such copies or derivative
-works are solely in the form of machine-executable object code generated by
-a source language processor.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-FITNESS FOR A PARTICULAR PURPOSE, TITLE AND NON-INFRINGEMENT. IN NO EVENT
-SHALL THE COPYRIGHT HOLDERS OR ANYONE DISTRIBUTING THE SOFTWARE BE LIABLE
-FOR ANY DAMAGES OR OTHER LIABILITY, WHETHER IN CONTRACT, TORT OR OTHERWISE,
-ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
-DEALINGS IN THE SOFTWARE.

scout_base/src/scout_sdk/src/third_party/asio/Makefile.am

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scout_base/src/scout_sdk/src/third_party/asio/README

@@ -1,4 +0,0 @@
-asio version 1.12.1
-Released Sunday, 15 April 2018.
-
-See doc/index.html for API documentation and a tutorial.

scout_base/src/scout_sdk/src/third_party/asio/compile

@@ -1,343 +0,0 @@
-#! /bin/sh
-# Wrapper for compilers which do not understand '-c -o'.
-
-scriptversion=2012-03-05.13; # UTC
-
-# Copyright (C) 1999, 2000, 2003, 2004, 2005, 2009, 2010, 2012 Free
-# Software Foundation, Inc.
-# Written by Tom Tromey <tromey@cygnus.com>.
-#
-# This program is free software; you can redistribute it and/or modify
-# it under the terms of the GNU General Public License as published by
-# the Free Software Foundation; either version 2, or (at your option)
-# any later version.
-#
-# This program is distributed in the hope that it will be useful,
-# but WITHOUT ANY WARRANTY; without even the implied warranty of
-# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-# GNU General Public License for more details.
-#
-# You should have received a copy of the GNU General Public License
-# along with this program.  If not, see <http://www.gnu.org/licenses/>.
-
-# As a special exception to the GNU General Public License, if you
-# distribute this file as part of a program that contains a
-# configuration script generated by Autoconf, you may include it under
-# the same distribution terms that you use for the rest of that program.
-
-# This file is maintained in Automake, please report
-# bugs to <bug-automake@gnu.org> or send patches to
-# <automake-patches@gnu.org>.
-
-nl='
-'
-
-# We need space, tab and new line, in precisely that order.  Quoting is
-# there to prevent tools from complaining about whitespace usage.
-IFS=" ""	$nl"
-
-file_conv=
-
-# func_file_conv build_file lazy
-# Convert a $build file to $host form and store it in $file
-# Currently only supports Windows hosts. If the determined conversion
-# type is listed in (the comma separated) LAZY, no conversion will
-# take place.
-func_file_conv ()
-{
-  file=$1
-  case $file in
-    / | /[!/]*) # absolute file, and not a UNC file
-      if test -z "$file_conv"; then
-	# lazily determine how to convert abs files
-	case `uname -s` in
-	  MINGW*)
-	    file_conv=mingw
-	    ;;
-	  CYGWIN*)
-	    file_conv=cygwin
-	    ;;
-	  *)
-	    file_conv=wine
-	    ;;
-	esac
-      fi
-      case $file_conv/,$2, in
-	*,$file_conv,*)
-	  ;;
-	mingw/*)
-	  file=`cmd //C echo "$file " | sed -e 's/"\(.*\) " *$/\1/'`
-	  ;;
-	cygwin/*)
-	  file=`cygpath -m "$file" || echo "$file"`
-	  ;;
-	wine/*)
-	  file=`winepath -w "$file" || echo "$file"`
-	  ;;
-      esac
-      ;;
-  esac
-}
-
-# func_cl_dashL linkdir
-# Make cl look for libraries in LINKDIR
-func_cl_dashL ()
-{
-  func_file_conv "$1"
-  if test -z "$lib_path"; then
-    lib_path=$file
-  else
-    lib_path="$lib_path;$file"
-  fi
-  linker_opts="$linker_opts -LIBPATH:$file"
-}
-
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-func_cl_dashl ()
-{
-  lib=$1
-  found=no
-  save_IFS=$IFS
-  IFS=';'
-  for dir in $lib_path $LIB
-  do
-    IFS=$save_IFS
-    if $shared && test -f "$dir/$lib.dll.lib"; then
-      found=yes
-      lib=$dir/$lib.dll.lib
-      break
-    fi
-    if test -f "$dir/$lib.lib"; then
-      found=yes
-      lib=$dir/$lib.lib
-      break
-    fi
-  done
-  IFS=$save_IFS
-
-  if test "$found" != yes; then
-    lib=$lib.lib
-  fi
-}
-
-# func_cl_wrapper cl arg...
-# Adjust compile command to suit cl
-func_cl_wrapper ()
-{
-  # Assume a capable shell
-  lib_path=
-  shared=:
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-  for arg
-  do
-    if test -n "$eat"; then
-      eat=
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-	      set x "$@" -Fo"$file"
-	      shift
-	      ;;
-	    *)
-	      func_file_conv "$2"
-	      set x "$@" -Fe"$file"
-	      shift
-	      ;;
-	  esac
-	  ;;
-	-I)
-	  eat=1
-	  func_file_conv "$2" mingw
-	  set x "$@" -I"$file"
-	  shift
-	  ;;
-	-I*)
-	  func_file_conv "${1#-I}" mingw
-	  set x "$@" -I"$file"
-	  shift
-	  ;;
-	-l)
-	  eat=1
-	  func_cl_dashl "$2"
-	  set x "$@" "$lib"
-	  shift
-	  ;;
-	-l*)
-	  func_cl_dashl "${1#-l}"
-	  set x "$@" "$lib"
-	  shift
-	  ;;
-	-L)
-	  eat=1
-	  func_cl_dashL "$2"
-	  ;;
-	-L*)
-	  func_cl_dashL "${1#-L}"
-	  ;;
-	-static)
-	  shared=false
-	  ;;
-	-Wl,*)
-	  arg=${1#-Wl,}
-	  save_ifs="$IFS"; IFS=','
-	  for flag in $arg; do
-	    IFS="$save_ifs"
-	    linker_opts="$linker_opts $flag"
-	  done
-	  IFS="$save_ifs"
-	  ;;
-	-Xlinker)
-	  eat=1
-	  linker_opts="$linker_opts $2"
-	  ;;
-	-*)
-	  set x "$@" "$1"
-	  shift
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-	  func_file_conv "$1"
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-
-Wrapper for compilers which do not understand '-c -o'.
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-Report bugs to <bug-automake@gnu.org>.
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-    exit $?
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-    eat=
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-	eat=1
-	case $2 in
-	  *.o | *.obj)
-	    ofile=$2
-	    ;;
-	  *)
-	    set x "$@" -o "$2"
-	    shift
-	    ;;
-	esac
-	;;
-      *.c)
-	cfile=$1
-	set x "$@" "$1"
-	shift
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-      *)
-	set x "$@" "$1"
-	shift
-	;;
-    esac
-  fi
-  shift
-done
-
-if test -z "$ofile" || test -z "$cfile"; then
-  # If no '-o' option was seen then we might have been invoked from a
-  # pattern rule where we don't need one.  That is ok -- this is a
-  # normal compilation that the losing compiler can handle.  If no
-  # '.c' file was seen then we are probably linking.  That is also
-  # ok.
-  exec "$@"
-fi
-
-# Name of file we expect compiler to create.
-cofile=`echo "$cfile" | sed 's|^.*[\\/]||; s|^[a-zA-Z]:||; s/\.c$/.o/'`
-
-# Create the lock directory.
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-# that we are using for the .o file.  Also, base the name on the expected
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-lockdir=`echo "$cofile" | sed -e 's|[/\\:.-]|_|g'`.d
-while true; do
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-trap "rmdir '$lockdir'; exit 1" 1 2 15
-
-# Run the compile.
-"$@"
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-
-if test -f "$cofile"; then
-  test "$cofile" = "$ofile" || mv "$cofile" "$ofile"
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-  test "${cofile}bj" = "$ofile" || mv "${cofile}bj" "$ofile"
-fi
-
-rmdir "$lockdir"
-exit $ret
-
-# Local Variables:
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-# eval: (add-hook 'write-file-hooks 'time-stamp)
-# time-stamp-start: "scriptversion="
-# time-stamp-format: "%:y-%02m-%02d.%02H"
-# time-stamp-time-zone: "UTC"
-# time-stamp-end: "; # UTC"
-# End:

scout_base/src/scout_sdk/src/third_party/asio/configure.ac

@@ -1,186 +0,0 @@
-AC_INIT(asio, [1.12.1])
-AC_CONFIG_SRCDIR(include/asio.hpp)
-AM_MAINTAINER_MODE
-AM_INIT_AUTOMAKE([tar-ustar])
-
-AC_CANONICAL_HOST
-AM_PROG_CC_C_O
-AC_PROG_CXX
-AC_LANG(C++)
-AC_PROG_RANLIB
-
-AC_DEFINE(_REENTRANT, [1], [Define this])
-
-AC_ARG_WITH(boost,
-  AC_HELP_STRING([--with-boost=DIR],[location of boost distribution]),
-[
-  if test "${withval}" = no; then
-    STANDALONE="yes"
-  else
-    CPPFLAGS="$CPPFLAGS -I${withval} -DBOOST_CHRONO_HEADER_ONLY -DBOOST_CHRONO_DONT_PROVIDE_HYBRID_ERROR_HANDLING"
-    LIBS="$LIBS -L${withval}/stage/lib"
-  fi
-],
-[
-  BOOSTDIR=`ls -1d ../boost_*_*_*/ 2>/dev/null | sort -t "_" -k 2nr -k 3nr -k 4nr | head -n 1 | sed -e 's/\/$//'`
-  if test "${BOOSTDIR}" != ""; then
-    BOOSTDIR="`pwd`/${BOOSTDIR}"
-    if test -d "${BOOSTDIR}"; then
-      echo "using automatically detected boost from ${BOOSTDIR}"
-      CPPFLAGS="$CPPFLAGS -I${BOOSTDIR} -DBOOST_CHRONO_HEADER_ONLY -DBOOST_CHRONO_DONT_PROVIDE_HYBRID_ERROR_HANDLING"
-      LIBS="$LIBS -L${BOOSTDIR}/stage/lib"
-    fi
-  fi
-])
-
-AC_ARG_ENABLE(separate-compilation,
-[  --enable-separate-compilation  separate compilation of asio source],
-[
-  SEPARATE_COMPILATION=yes
-])
-
-AC_ARG_ENABLE(boost-coroutine,
-[  --enable-boost-coroutine  use Boost.Coroutine to implement stackful coroutines],
-[
-  HAVE_BOOST_COROUTINE=yes
-])
-
-if test "$STANDALONE" != yes; then
-  AC_CHECK_HEADER([boost/noncopyable.hpp],,
-  [
-    echo "Can't find boost headers. Please check the location of the boost"
-    echo "distribution and rerun configure using the --with-boost=DIR option."
-    echo "Alternatively, run with --without-boost to enable standalone build."
-    exit 1
-  ],[])
-fi
-
-AC_ARG_WITH(openssl,
-  AC_HELP_STRING([--with-openssl=DIR],[location of openssl]),
-[
-  CPPFLAGS="$CPPFLAGS -I${withval}/include"
-  LIBS="$LIBS -L${withval}/lib"
-],[])
-
-AC_CHECK_HEADER([openssl/ssl.h],,
-[
-  OPENSSL_FOUND=no
-],[])
-
-if test x$OPENSSL_FOUND != xno; then
-  LIBS="$LIBS -lssl -lcrypto"
-fi
-
-AM_CONDITIONAL(HAVE_OPENSSL,test x$OPENSSL_FOUND != xno)
-
-WINDOWS=no
-case $host in
-  *-*-linux*)
-    CXXFLAGS="$CXXFLAGS -pthread"
-    LDFLAGS="$LDFLAGS -pthread"
-    LIBS="$LIBS -lrt"
-    ;;
-  *-*-solaris*)
-    if test "$GXX" = yes; then
-      CXXFLAGS="$CXXFLAGS -D_PTHREADS"
-    else
-      # We'll assume Sun's CC.
-      CXXFLAGS="$CXXFLAGS -mt"
-    fi
-    LIBS="$LIBS -lsocket -lnsl -lpthread"
-    ;;
-  *-*-mingw32*)
-    CXXFLAGS="$CXXFLAGS -mthreads"
-    LDFLAGS="$LDFLAGS -mthreads"
-    LIBS="$LIBS -lws2_32 -lmswsock"
-    WINDOWS=yes
-    ;;
-  *-*-mingw64*)
-    CXXFLAGS="$CXXFLAGS -mthreads"
-    LDFLAGS="$LDFLAGS -mthreads"
-    LIBS="$LIBS -lws2_32 -lmswsock"
-    WINDOWS=yes
-    ;;
-  *-pc-cygwin*)
-    CXXFLAGS="$CXXFLAGS -D__USE_W32_SOCKETS -D_WIN32_WINNT=0x0501"
-    LIBS="$LIBS -lws2_32 -lmswsock"
-    WINDOWS=yes
-    ;;
-  *-apple-darwin*)
-    CXXFLAGS="$CXXFLAGS"
-    LDFLAGS="$LDFLAGS"
-    ;;
-  *-*-freebsd*)
-    CXXFLAGS="$CXXFLAGS -pthread"
-    LDFLAGS="$LDFLAGS -pthread"
-    ;;
-  *-*-netbsd*)
-    CXXFLAGS="$CXXFLAGS -pthread"
-    LDFLAGS="$LDFLAGS -pthread"
-    ;;
-esac
-
-if test "$GXX" = yes; then
-  CXXFLAGS="$CXXFLAGS -ftemplate-depth-256"
-fi
-
-if test "$STANDALONE" = yes; then
-  CPPFLAGS="$CPPFLAGS -DASIO_STANDALONE"
-fi
-
-if test "$SEPARATE_COMPILATION" = yes; then
-  CPPFLAGS="$CPPFLAGS -DASIO_SEPARATE_COMPILATION"
-fi
-
-AC_MSG_CHECKING([whether C++11 is enabled])
-AC_COMPILE_IFELSE(
-  [AC_LANG_PROGRAM(
-    [[#if __cplusplus < 201103L]]
-    [[#error C++11 not available]]
-    [[#endif]])],
-  [AC_MSG_RESULT([yes])
-    HAVE_CXX11=yes;],
-  [AC_MSG_RESULT([no])
-    HAVE_CXX11=no;])
-
-AC_MSG_CHECKING([whether C++14 is enabled])
-AC_COMPILE_IFELSE(
-  [AC_LANG_PROGRAM(
-    [[#if __cplusplus < 201402L]]
-    [[#error C++14 not available]]
-    [[#endif]])],
-  [AC_MSG_RESULT([yes])
-    HAVE_CXX14=yes;],
-  [AC_MSG_RESULT([no])
-    HAVE_CXX14=no;])
-
-if test "$GXX" = yes; then
-  if test "$STANDALONE" = yes; then
-    if test "$HAVE_CXX11" = no; then
-      HAVE_CXX11=yes
-      CPPFLAGS="-std=c++0x $CPPFLAGS"
-    fi
-  fi
-fi
-
-AM_CONDITIONAL(STANDALONE,test x$STANDALONE = xyes)
-
-AM_CONDITIONAL(SEPARATE_COMPILATION,test x$SEPARATE_COMPILATION = xyes)
-
-AM_CONDITIONAL(HAVE_BOOST_COROUTINE,test x$HAVE_BOOST_COROUTINE = xyes)
-
-AM_CONDITIONAL(WINDOWS_TARGET,test x$WINDOWS != xno)
-
-AM_CONDITIONAL(HAVE_CXX11,test x$HAVE_CXX11 = xyes)
-
-AM_CONDITIONAL(HAVE_CXX14,test x$HAVE_CXX14 = xyes)
-
-AC_OUTPUT([
-  Makefile
-  include/Makefile
-  src/Makefile
-  src/tests/Makefile
-  src/examples/cpp03/Makefile
-  src/examples/cpp11/Makefile
-  src/examples/cpp14/Makefile
-  src/examples/cpp17/Makefile])

scout_base/src/scout_sdk/src/third_party/asio/depcomp

@@ -1,708 +0,0 @@
-#! /bin/sh
-# depcomp - compile a program generating dependencies as side-effects
-
-scriptversion=2012-03-27.16; # UTC
-
-# Copyright (C) 1999, 2000, 2003, 2004, 2005, 2006, 2007, 2009, 2010,
-# 2011, 2012 Free Software Foundation, Inc.
-
-# This program is free software; you can redistribute it and/or modify
-# it under the terms of the GNU General Public License as published by
-# the Free Software Foundation; either version 2, or (at your option)
-# any later version.
-
-# This program is distributed in the hope that it will be useful,
-# but WITHOUT ANY WARRANTY; without even the implied warranty of
-# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-# GNU General Public License for more details.
-
-# You should have received a copy of the GNU General Public License
-# along with this program.  If not, see <http://www.gnu.org/licenses/>.
-
-# As a special exception to the GNU General Public License, if you
-# distribute this file as part of a program that contains a
-# configuration script generated by Autoconf, you may include it under
-# the same distribution terms that you use for the rest of that program.
-
-# Originally written by Alexandre Oliva <oliva@dcc.unicamp.br>.
-
-case $1 in
-  '')
-     echo "$0: No command.  Try '$0 --help' for more information." 1>&2
-     exit 1;
-     ;;
-  -h | --h*)
-    cat <<\EOF
-Usage: depcomp [--help] [--version] PROGRAM [ARGS]
-
-Run PROGRAMS ARGS to compile a file, generating dependencies
-as side-effects.
-
-Environment variables:
-  depmode     Dependency tracking mode.
-  source      Source file read by 'PROGRAMS ARGS'.
-  object      Object file output by 'PROGRAMS ARGS'.
-  DEPDIR      directory where to store dependencies.
-  depfile     Dependency file to output.
-  tmpdepfile  Temporary file to use when outputting dependencies.
-  libtool     Whether libtool is used (yes/no).
-
-Report bugs to <bug-automake@gnu.org>.
-EOF
-    exit $?
-    ;;
-  -v | --v*)
-    echo "depcomp $scriptversion"
-    exit $?
-    ;;
-esac
-
-# A tabulation character.
-tab='	'
-# A newline character.
-nl='
-'
-
-if test -z "$depmode" || test -z "$source" || test -z "$object"; then
-  echo "depcomp: Variables source, object and depmode must be set" 1>&2
-  exit 1
-fi
-
-# Dependencies for sub/bar.o or sub/bar.obj go into sub/.deps/bar.Po.
-depfile=${depfile-`echo "$object" |
-  sed 's|[^\\/]*$|'${DEPDIR-.deps}'/&|;s|\.\([^.]*\)$|.P\1|;s|Pobj$|Po|'`}
-tmpdepfile=${tmpdepfile-`echo "$depfile" | sed 's/\.\([^.]*\)$/.T\1/'`}
-
-rm -f "$tmpdepfile"
-
-# Some modes work just like other modes, but use different flags.  We
-# parameterize here, but still list the modes in the big case below,
-# to make depend.m4 easier to write.  Note that we *cannot* use a case
-# here, because this file can only contain one case statement.
-if test "$depmode" = hp; then
-  # HP compiler uses -M and no extra arg.
-  gccflag=-M
-  depmode=gcc
-fi
-
-if test "$depmode" = dashXmstdout; then
-   # This is just like dashmstdout with a different argument.
-   dashmflag=-xM
-   depmode=dashmstdout
-fi
-
-cygpath_u="cygpath -u -f -"
-if test "$depmode" = msvcmsys; then
-   # This is just like msvisualcpp but w/o cygpath translation.
-   # Just convert the backslash-escaped backslashes to single forward
-   # slashes to satisfy depend.m4
-   cygpath_u='sed s,\\\\,/,g'
-   depmode=msvisualcpp
-fi
-
-if test "$depmode" = msvc7msys; then
-   # This is just like msvc7 but w/o cygpath translation.
-   # Just convert the backslash-escaped backslashes to single forward
-   # slashes to satisfy depend.m4
-   cygpath_u='sed s,\\\\,/,g'
-   depmode=msvc7
-fi
-
-if test "$depmode" = xlc; then
-   # IBM C/C++ Compilers xlc/xlC can output gcc-like dependency informations.
-   gccflag=-qmakedep=gcc,-MF
-   depmode=gcc
-fi
-
-case "$depmode" in
-gcc3)
-## gcc 3 implements dependency tracking that does exactly what
-## we want.  Yay!  Note: for some reason libtool 1.4 doesn't like
-## it if -MD -MP comes after the -MF stuff.  Hmm.
-## Unfortunately, FreeBSD c89 acceptance of flags depends upon
-## the command line argument order; so add the flags where they
-## appear in depend2.am.  Note that the slowdown incurred here
-## affects only configure: in makefiles, %FASTDEP% shortcuts this.
-  for arg
-  do
-    case $arg in
-    -c) set fnord "$@" -MT "$object" -MD -MP -MF "$tmpdepfile" "$arg" ;;
-    *)  set fnord "$@" "$arg" ;;
-    esac
-    shift # fnord
-    shift # $arg
-  done
-  "$@"
-  stat=$?
-  if test $stat -eq 0; then :
-  else
-    rm -f "$tmpdepfile"
-    exit $stat
-  fi
-  mv "$tmpdepfile" "$depfile"
-  ;;
-
-gcc)
-## There are various ways to get dependency output from gcc.  Here's
-## why we pick this rather obscure method:
-## - Don't want to use -MD because we'd like the dependencies to end
-##   up in a subdir.  Having to rename by hand is ugly.
-##   (We might end up doing this anyway to support other compilers.)
-## - The DEPENDENCIES_OUTPUT environment variable makes gcc act like
-##   -MM, not -M (despite what the docs say).
-## - Using -M directly means running the compiler twice (even worse
-##   than renaming).
-  if test -z "$gccflag"; then
-    gccflag=-MD,
-  fi
-  "$@" -Wp,"$gccflag$tmpdepfile"
-  stat=$?
-  if test $stat -eq 0; then :
-  else
-    rm -f "$tmpdepfile"
-    exit $stat
-  fi
-  rm -f "$depfile"
-  echo "$object : \\" > "$depfile"
-  alpha=ABCDEFGHIJKLMNOPQRSTUVWXYZabcdefghijklmnopqrstuvwxyz
-## The second -e expression handles DOS-style file names with drive letters.
-  sed -e 's/^[^:]*: / /' \
-      -e 's/^['$alpha']:\/[^:]*: / /' < "$tmpdepfile" >> "$depfile"
-## This next piece of magic avoids the "deleted header file" problem.
-## The problem is that when a header file which appears in a .P file
-## is deleted, the dependency causes make to die (because there is
-## typically no way to rebuild the header).  We avoid this by adding
-## dummy dependencies for each header file.  Too bad gcc doesn't do
-## this for us directly.
-  tr ' ' "$nl" < "$tmpdepfile" |
-## Some versions of gcc put a space before the ':'.  On the theory
-## that the space means something, we add a space to the output as
-## well.  hp depmode also adds that space, but also prefixes the VPATH
-## to the object.  Take care to not repeat it in the output.
-## Some versions of the HPUX 10.20 sed can't process this invocation
-## correctly.  Breaking it into two sed invocations is a workaround.
-    sed -e 's/^\\$//' -e '/^$/d' -e "s|.*$object$||" -e '/:$/d' \
-      | sed -e 's/$/ :/' >> "$depfile"
-  rm -f "$tmpdepfile"
-  ;;
-
-hp)
-  # This case exists only to let depend.m4 do its work.  It works by
-  # looking at the text of this script.  This case will never be run,
-  # since it is checked for above.
-  exit 1
-  ;;
-
-sgi)
-  if test "$libtool" = yes; then
-    "$@" "-Wp,-MDupdate,$tmpdepfile"
-  else
-    "$@" -MDupdate "$tmpdepfile"
-  fi
-  stat=$?
-  if test $stat -eq 0; then :
-  else
-    rm -f "$tmpdepfile"
-    exit $stat
-  fi
-  rm -f "$depfile"
-
-  if test -f "$tmpdepfile"; then  # yes, the sourcefile depend on other files
-    echo "$object : \\" > "$depfile"
-
-    # Clip off the initial element (the dependent).  Don't try to be
-    # clever and replace this with sed code, as IRIX sed won't handle
-    # lines with more than a fixed number of characters (4096 in
-    # IRIX 6.2 sed, 8192 in IRIX 6.5).  We also remove comment lines;
-    # the IRIX cc adds comments like '#:fec' to the end of the
-    # dependency line.
-    tr ' ' "$nl" < "$tmpdepfile" \
-    | sed -e 's/^.*\.o://' -e 's/#.*$//' -e '/^$/ d' | \
-    tr "$nl" ' ' >> "$depfile"
-    echo >> "$depfile"
-
-    # The second pass generates a dummy entry for each header file.
-    tr ' ' "$nl" < "$tmpdepfile" \
-   | sed -e 's/^.*\.o://' -e 's/#.*$//' -e '/^$/ d' -e 's/$/:/' \
-   >> "$depfile"
-  else
-    # The sourcefile does not contain any dependencies, so just
-    # store a dummy comment line, to avoid errors with the Makefile
-    # "include basename.Plo" scheme.
-    echo "#dummy" > "$depfile"
-  fi
-  rm -f "$tmpdepfile"
-  ;;
-
-xlc)
-  # This case exists only to let depend.m4 do its work.  It works by
-  # looking at the text of this script.  This case will never be run,
-  # since it is checked for above.
-  exit 1
-  ;;
-
-aix)
-  # The C for AIX Compiler uses -M and outputs the dependencies
-  # in a .u file.  In older versions, this file always lives in the
-  # current directory.  Also, the AIX compiler puts '$object:' at the
-  # start of each line; $object doesn't have directory information.
-  # Version 6 uses the directory in both cases.
-  dir=`echo "$object" | sed -e 's|/[^/]*$|/|'`
-  test "x$dir" = "x$object" && dir=
-  base=`echo "$object" | sed -e 's|^.*/||' -e 's/\.o$//' -e 's/\.lo$//'`
-  if test "$libtool" = yes; then
-    tmpdepfile1=$dir$base.u
-    tmpdepfile2=$base.u
-    tmpdepfile3=$dir.libs/$base.u
-    "$@" -Wc,-M
-  else
-    tmpdepfile1=$dir$base.u
-    tmpdepfile2=$dir$base.u
-    tmpdepfile3=$dir$base.u
-    "$@" -M
-  fi
-  stat=$?
-
-  if test $stat -eq 0; then :
-  else
-    rm -f "$tmpdepfile1" "$tmpdepfile2" "$tmpdepfile3"
-    exit $stat
-  fi
-
-  for tmpdepfile in "$tmpdepfile1" "$tmpdepfile2" "$tmpdepfile3"
-  do
-    test -f "$tmpdepfile" && break
-  done
-  if test -f "$tmpdepfile"; then
-    # Each line is of the form 'foo.o: dependent.h'.
-    # Do two passes, one to just change these to
-    # '$object: dependent.h' and one to simply 'dependent.h:'.
-    sed -e "s,^.*\.[a-z]*:,$object:," < "$tmpdepfile" > "$depfile"
-    sed -e 's,^.*\.[a-z]*:['"$tab"' ]*,,' -e 's,$,:,' < "$tmpdepfile" >> "$depfile"
-  else
-    # The sourcefile does not contain any dependencies, so just
-    # store a dummy comment line, to avoid errors with the Makefile
-    # "include basename.Plo" scheme.
-    echo "#dummy" > "$depfile"
-  fi
-  rm -f "$tmpdepfile"
-  ;;
-
-icc)
-  # Intel's C compiler anf tcc (Tiny C Compiler) understand '-MD -MF file'.
-  # However on
-  #    $CC -MD -MF foo.d -c -o sub/foo.o sub/foo.c
-  # ICC 7.0 will fill foo.d with something like
-  #    foo.o: sub/foo.c
-  #    foo.o: sub/foo.h
-  # which is wrong.  We want
-  #    sub/foo.o: sub/foo.c
-  #    sub/foo.o: sub/foo.h
-  #    sub/foo.c:
-  #    sub/foo.h:
-  # ICC 7.1 will output
-  #    foo.o: sub/foo.c sub/foo.h
-  # and will wrap long lines using '\':
-  #    foo.o: sub/foo.c ... \
-  #     sub/foo.h ... \
-  #     ...
-  # tcc 0.9.26 (FIXME still under development at the moment of writing)
-  # will emit a similar output, but also prepend the continuation lines
-  # with horizontal tabulation characters.
-  "$@" -MD -MF "$tmpdepfile"
-  stat=$?
-  if test $stat -eq 0; then :
-  else
-    rm -f "$tmpdepfile"
-    exit $stat
-  fi
-  rm -f "$depfile"
-  # Each line is of the form 'foo.o: dependent.h',
-  # or 'foo.o: dep1.h dep2.h \', or ' dep3.h dep4.h \'.
-  # Do two passes, one to just change these to
-  # '$object: dependent.h' and one to simply 'dependent.h:'.
-  sed -e "s/^[ $tab][ $tab]*/  /" -e "s,^[^:]*:,$object :," \
-    < "$tmpdepfile" > "$depfile"
-  sed '
-    s/[ '"$tab"'][ '"$tab"']*/ /g
-    s/^ *//
-    s/ *\\*$//
-    s/^[^:]*: *//
-    /^$/d
-    /:$/d
-    s/$/ :/
-  ' < "$tmpdepfile" >> "$depfile"
-  rm -f "$tmpdepfile"
-  ;;
-
-hp2)
-  # The "hp" stanza above does not work with aCC (C++) and HP's ia64
-  # compilers, which have integrated preprocessors.  The correct option
-  # to use with these is +Maked; it writes dependencies to a file named
-  # 'foo.d', which lands next to the object file, wherever that
-  # happens to be.
-  # Much of this is similar to the tru64 case; see comments there.
-  dir=`echo "$object" | sed -e 's|/[^/]*$|/|'`
-  test "x$dir" = "x$object" && dir=
-  base=`echo "$object" | sed -e 's|^.*/||' -e 's/\.o$//' -e 's/\.lo$//'`
-  if test "$libtool" = yes; then
-    tmpdepfile1=$dir$base.d
-    tmpdepfile2=$dir.libs/$base.d
-    "$@" -Wc,+Maked
-  else
-    tmpdepfile1=$dir$base.d
-    tmpdepfile2=$dir$base.d
-    "$@" +Maked
-  fi
-  stat=$?
-  if test $stat -eq 0; then :
-  else
-     rm -f "$tmpdepfile1" "$tmpdepfile2"
-     exit $stat
-  fi
-
-  for tmpdepfile in "$tmpdepfile1" "$tmpdepfile2"
-  do
-    test -f "$tmpdepfile" && break
-  done
-  if test -f "$tmpdepfile"; then
-    sed -e "s,^.*\.[a-z]*:,$object:," "$tmpdepfile" > "$depfile"
-    # Add 'dependent.h:' lines.
-    sed -ne '2,${
-	       s/^ *//
-	       s/ \\*$//
-	       s/$/:/
-	       p
-	     }' "$tmpdepfile" >> "$depfile"
-  else
-    echo "#dummy" > "$depfile"
-  fi
-  rm -f "$tmpdepfile" "$tmpdepfile2"
-  ;;
-
-tru64)
-   # The Tru64 compiler uses -MD to generate dependencies as a side
-   # effect.  'cc -MD -o foo.o ...' puts the dependencies into 'foo.o.d'.
-   # At least on Alpha/Redhat 6.1, Compaq CCC V6.2-504 seems to put
-   # dependencies in 'foo.d' instead, so we check for that too.
-   # Subdirectories are respected.
-   dir=`echo "$object" | sed -e 's|/[^/]*$|/|'`
-   test "x$dir" = "x$object" && dir=
-   base=`echo "$object" | sed -e 's|^.*/||' -e 's/\.o$//' -e 's/\.lo$//'`
-
-   if test "$libtool" = yes; then
-      # With Tru64 cc, shared objects can also be used to make a
-      # static library.  This mechanism is used in libtool 1.4 series to
-      # handle both shared and static libraries in a single compilation.
-      # With libtool 1.4, dependencies were output in $dir.libs/$base.lo.d.
-      #
-      # With libtool 1.5 this exception was removed, and libtool now
-      # generates 2 separate objects for the 2 libraries.  These two
-      # compilations output dependencies in $dir.libs/$base.o.d and
-      # in $dir$base.o.d.  We have to check for both files, because
-      # one of the two compilations can be disabled.  We should prefer
-      # $dir$base.o.d over $dir.libs/$base.o.d because the latter is
-      # automatically cleaned when .libs/ is deleted, while ignoring
-      # the former would cause a distcleancheck panic.
-      tmpdepfile1=$dir.libs/$base.lo.d   # libtool 1.4
-      tmpdepfile2=$dir$base.o.d          # libtool 1.5
-      tmpdepfile3=$dir.libs/$base.o.d    # libtool 1.5
-      tmpdepfile4=$dir.libs/$base.d      # Compaq CCC V6.2-504
-      "$@" -Wc,-MD
-   else
-      tmpdepfile1=$dir$base.o.d
-      tmpdepfile2=$dir$base.d
-      tmpdepfile3=$dir$base.d
-      tmpdepfile4=$dir$base.d
-      "$@" -MD
-   fi
-
-   stat=$?
-   if test $stat -eq 0; then :
-   else
-      rm -f "$tmpdepfile1" "$tmpdepfile2" "$tmpdepfile3" "$tmpdepfile4"
-      exit $stat
-   fi
-
-   for tmpdepfile in "$tmpdepfile1" "$tmpdepfile2" "$tmpdepfile3" "$tmpdepfile4"
-   do
-     test -f "$tmpdepfile" && break
-   done
-   if test -f "$tmpdepfile"; then
-      sed -e "s,^.*\.[a-z]*:,$object:," < "$tmpdepfile" > "$depfile"
-      sed -e 's,^.*\.[a-z]*:['"$tab"' ]*,,' -e 's,$,:,' < "$tmpdepfile" >> "$depfile"
-   else
-      echo "#dummy" > "$depfile"
-   fi
-   rm -f "$tmpdepfile"
-   ;;
-
-msvc7)
-  if test "$libtool" = yes; then
-    showIncludes=-Wc,-showIncludes
-  else
-    showIncludes=-showIncludes
-  fi
-  "$@" $showIncludes > "$tmpdepfile"
-  stat=$?
-  grep -v '^Note: including file: ' "$tmpdepfile"
-  if test "$stat" = 0; then :
-  else
-    rm -f "$tmpdepfile"
-    exit $stat
-  fi
-  rm -f "$depfile"
-  echo "$object : \\" > "$depfile"
-  # The first sed program below extracts the file names and escapes
-  # backslashes for cygpath.  The second sed program outputs the file
-  # name when reading, but also accumulates all include files in the
-  # hold buffer in order to output them again at the end.  This only
-  # works with sed implementations that can handle large buffers.
-  sed < "$tmpdepfile" -n '
-/^Note: including file:  *\(.*\)/ {
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scout_base/src/scout_sdk/src/third_party/asio/doc/asio/examples/cpp03_examples.html

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-            <a href="../../../src/examples/cpp03/http/server2/connection.cpp" target="_top">../src/examples/cpp03/http/server2/connection.cpp</a>
-          </li>
-<li class="listitem">
-            <a href="../../../src/examples/cpp03/http/server2/connection.hpp" target="_top">../src/examples/cpp03/http/server2/connection.hpp</a>
-          </li>
-<li class="listitem">
-            <a href="../../../src/examples/cpp03/http/server2/header.hpp" target="_top">../src/examples/cpp03/http/server2/header.hpp</a>
-          </li>
-<li class="listitem">
-            <a href="../../../src/examples/cpp03/http/server2/io_context_pool.cpp" target="_top">../src/examples/cpp03/http/server2/io_context_pool.cpp</a>
-          </li>
-<li class="listitem">
-            <a href="../../../src/examples/cpp03/http/server2/io_context_pool.hpp" target="_top">../src/examples/cpp03/http/server2/io_context_pool.hpp</a>
-          </li>
-<li class="listitem">
-            <a href="../../../src/examples/cpp03/http/server2/main.cpp" target="_top">../src/examples/cpp03/http/server2/main.cpp</a>
-          </li>
-<li class="listitem">
-            <a href="../../../src/examples/cpp03/http/server2/mime_types.cpp" target="_top">../src/examples/cpp03/http/server2/mime_types.cpp</a>
-          </li>
-<li class="listitem">
-            <a href="../../../src/examples/cpp03/http/server2/mime_types.hpp" target="_top">../src/examples/cpp03/http/server2/mime_types.hpp</a>
-          </li>
-<li class="listitem">
-            <a href="../../../src/examples/cpp03/http/server2/reply.cpp" target="_top">../src/examples/cpp03/http/server2/reply.cpp</a>
-          </li>
-<li class="listitem">
-            <a href="../../../src/examples/cpp03/http/server2/reply.hpp" target="_top">../src/examples/cpp03/http/server2/reply.hpp</a>
-          </li>
-<li class="listitem">
-            <a href="../../../src/examples/cpp03/http/server2/request.hpp" target="_top">../src/examples/cpp03/http/server2/request.hpp</a>
-          </li>
-<li class="listitem">
-            <a href="../../../src/examples/cpp03/http/server2/request_handler.cpp" target="_top">../src/examples/cpp03/http/server2/request_handler.cpp</a>
-          </li>
-<li class="listitem">
-            <a href="../../../src/examples/cpp03/http/server2/request_handler.hpp" target="_top">../src/examples/cpp03/http/server2/request_handler.hpp</a>
-          </li>
-<li class="listitem">
-            <a href="../../../src/examples/cpp03/http/server2/request_parser.cpp" target="_top">../src/examples/cpp03/http/server2/request_parser.cpp</a>
-          </li>
-<li class="listitem">
-            <a href="../../../src/examples/cpp03/http/server2/request_parser.hpp" target="_top">../src/examples/cpp03/http/server2/request_parser.hpp</a>
-          </li>
-<li class="listitem">
-            <a href="../../../src/examples/cpp03/http/server2/server.cpp" target="_top">../src/examples/cpp03/http/server2/server.cpp</a>
-          </li>
-<li class="listitem">
-            <a href="../../../src/examples/cpp03/http/server2/server.hpp" target="_top">../src/examples/cpp03/http/server2/server.hpp</a>
-          </li>
-</ul></div>
-<h5>
-<a name="asio.examples.cpp03_examples.h8"></a>
-        <span><a name="asio.examples.cpp03_examples.http_server_3"></a></span><a class="link" href="cpp03_examples.html#asio.examples.cpp03_examples.http_server_3">HTTP
-        Server 3</a>
-      </h5>
-<p>
-        An HTTP server using a single io_context and a thread pool calling <code class="computeroutput">io_context::run()</code>.
-      </p>
-<div class="itemizedlist"><ul class="itemizedlist" type="disc">
-<li class="listitem">
-            <a href="../../../src/examples/cpp03/http/server3/connection.cpp" target="_top">../src/examples/cpp03/http/server3/connection.cpp</a>
-          </li>
-<li class="listitem">
-            <a href="../../../src/examples/cpp03/http/server3/connection.hpp" target="_top">../src/examples/cpp03/http/server3/connection.hpp</a>
-          </li>
-<li class="listitem">
-            <a href="../../../src/examples/cpp03/http/server3/header.hpp" target="_top">../src/examples/cpp03/http/server3/header.hpp</a>
-          </li>
-<li class="listitem">
-            <a href="../../../src/examples/cpp03/http/server3/main.cpp" target="_top">../src/examples/cpp03/http/server3/main.cpp</a>
-          </li>
-<li class="listitem">
-            <a href="../../../src/examples/cpp03/http/server3/mime_types.cpp" target="_top">../src/examples/cpp03/http/server3/mime_types.cpp</a>
-          </li>
-<li class="listitem">
-            <a href="../../../src/examples/cpp03/http/server3/mime_types.hpp" target="_top">../src/examples/cpp03/http/server3/mime_types.hpp</a>
-          </li>
-<li class="listitem">
-            <a href="../../../src/examples/cpp03/http/server3/reply.cpp" target="_top">../src/examples/cpp03/http/server3/reply.cpp</a>
-          </li>
-<li class="listitem">
-            <a href="../../../src/examples/cpp03/http/server3/reply.hpp" target="_top">../src/examples/cpp03/http/server3/reply.hpp</a>
-          </li>
-<li class="listitem">
-            <a href="../../../src/examples/cpp03/http/server3/request.hpp" target="_top">../src/examples/cpp03/http/server3/request.hpp</a>
-          </li>
-<li class="listitem">
-            <a href="../../../src/examples/cpp03/http/server3/request_handler.cpp" target="_top">../src/examples/cpp03/http/server3/request_handler.cpp</a>
-          </li>
-<li class="listitem">
-            <a href="../../../src/examples/cpp03/http/server3/request_handler.hpp" target="_top">../src/examples/cpp03/http/server3/request_handler.hpp</a>
-          </li>
-<li class="listitem">
-            <a href="../../../src/examples/cpp03/http/server3/request_parser.cpp" target="_top">../src/examples/cpp03/http/server3/request_parser.cpp</a>
-          </li>
-<li class="listitem">
-            <a href="../../../src/examples/cpp03/http/server3/request_parser.hpp" target="_top">../src/examples/cpp03/http/server3/request_parser.hpp</a>
-          </li>
-<li class="listitem">
-            <a href="../../../src/examples/cpp03/http/server3/server.cpp" target="_top">../src/examples/cpp03/http/server3/server.cpp</a>
-          </li>
-<li class="listitem">
-            <a href="../../../src/examples/cpp03/http/server3/server.hpp" target="_top">../src/examples/cpp03/http/server3/server.hpp</a>
-          </li>
-</ul></div>
-<h5>
-<a name="asio.examples.cpp03_examples.h9"></a>
-        <span><a name="asio.examples.cpp03_examples.http_server_4"></a></span><a class="link" href="cpp03_examples.html#asio.examples.cpp03_examples.http_server_4">HTTP
-        Server 4</a>
-      </h5>
-<p>
-        A single-threaded HTTP server implemented using stackless coroutines.
-      </p>
-<div class="itemizedlist"><ul class="itemizedlist" type="disc">
-<li class="listitem">
-            <a href="../../../src/examples/cpp03/http/server4/file_handler.cpp" target="_top">../src/examples/cpp03/http/server4/file_handler.cpp</a>
-          </li>
-<li class="listitem">
-            <a href="../../../src/examples/cpp03/http/server4/file_handler.hpp" target="_top">../src/examples/cpp03/http/server4/file_handler.hpp</a>
-          </li>
-<li class="listitem">
-            <a href="../../../src/examples/cpp03/http/server4/header.hpp" target="_top">../src/examples/cpp03/http/server4/header.hpp</a>
-          </li>
-<li class="listitem">
-            <a href="../../../src/examples/cpp03/http/server4/main.cpp" target="_top">../src/examples/cpp03/http/server4/main.cpp</a>
-          </li>
-<li class="listitem">
-            <a href="../../../src/examples/cpp03/http/server4/mime_types.cpp" target="_top">../src/examples/cpp03/http/server4/mime_types.cpp</a>
-          </li>
-<li class="listitem">
-            <a href="../../../src/examples/cpp03/http/server4/mime_types.hpp" target="_top">../src/examples/cpp03/http/server4/mime_types.hpp</a>
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-<li class="listitem">
-            <a href="../../../src/examples/cpp03/http/server4/reply.cpp" target="_top">../src/examples/cpp03/http/server4/reply.cpp</a>
-          </li>
-<li class="listitem">
-            <a href="../../../src/examples/cpp03/http/server4/reply.hpp" target="_top">../src/examples/cpp03/http/server4/reply.hpp</a>
-          </li>
-<li class="listitem">
-            <a href="../../../src/examples/cpp03/http/server4/request.hpp" target="_top">../src/examples/cpp03/http/server4/request.hpp</a>
-          </li>
-<li class="listitem">
-            <a href="../../../src/examples/cpp03/http/server4/request_parser.cpp" target="_top">../src/examples/cpp03/http/server4/request_parser.cpp</a>
-          </li>
-<li class="listitem">
-            <a href="../../../src/examples/cpp03/http/server4/request_parser.hpp" target="_top">../src/examples/cpp03/http/server4/request_parser.hpp</a>
-          </li>
-<li class="listitem">
-            <a href="../../../src/examples/cpp03/http/server4/server.cpp" target="_top">../src/examples/cpp03/http/server4/server.cpp</a>
-          </li>
-<li class="listitem">
-            <a href="../../../src/examples/cpp03/http/server4/server.hpp" target="_top">../src/examples/cpp03/http/server4/server.hpp</a>
-          </li>
-</ul></div>
-<h5>
-<a name="asio.examples.cpp03_examples.h10"></a>
-        <span><a name="asio.examples.cpp03_examples.icmp"></a></span><a class="link" href="cpp03_examples.html#asio.examples.cpp03_examples.icmp">ICMP</a>
-      </h5>
-<p>
-        This example shows how to use raw sockets with ICMP to ping a remote host.
-      </p>
-<div class="itemizedlist"><ul class="itemizedlist" type="disc">
-<li class="listitem">
-            <a href="../../../src/examples/cpp03/icmp/ping.cpp" target="_top">../src/examples/cpp03/icmp/ping.cpp</a>
-          </li>
-<li class="listitem">
-            <a href="../../../src/examples/cpp03/icmp/ipv4_header.hpp" target="_top">../src/examples/cpp03/icmp/ipv4_header.hpp</a>
-          </li>
-<li class="listitem">
-            <a href="../../../src/examples/cpp03/icmp/icmp_header.hpp" target="_top">../src/examples/cpp03/icmp/icmp_header.hpp</a>
-          </li>
-</ul></div>
-<h5>
-<a name="asio.examples.cpp03_examples.h11"></a>
-        <span><a name="asio.examples.cpp03_examples.invocation"></a></span><a class="link" href="cpp03_examples.html#asio.examples.cpp03_examples.invocation">Invocation</a>
-      </h5>
-<p>
-        This example shows how to customise handler invocation. Completion handlers
-        are added to a priority queue rather than executed immediately.
-      </p>
-<div class="itemizedlist"><ul class="itemizedlist" type="disc"><li class="listitem">
-            <a href="../../../src/examples/cpp03/invocation/prioritised_handlers.cpp" target="_top">../src/examples/cpp03/invocation/prioritised_handlers.cpp</a>
-          </li></ul></div>
-<h5>
-<a name="asio.examples.cpp03_examples.h12"></a>
-        <span><a name="asio.examples.cpp03_examples.iostreams"></a></span><a class="link" href="cpp03_examples.html#asio.examples.cpp03_examples.iostreams">Iostreams</a>
-      </h5>
-<p>
-        Two examples showing how to use <a class="link" href="../reference/ip__tcp/iostream.html" title="ip::tcp::iostream">ip::tcp::iostream</a>.
-      </p>
-<div class="itemizedlist"><ul class="itemizedlist" type="disc">
-<li class="listitem">
-            <a href="../../../src/examples/cpp03/iostreams/daytime_client.cpp" target="_top">../src/examples/cpp03/iostreams/daytime_client.cpp</a>
-          </li>
-<li class="listitem">
-            <a href="../../../src/examples/cpp03/iostreams/daytime_server.cpp" target="_top">../src/examples/cpp03/iostreams/daytime_server.cpp</a>
-          </li>
-<li class="listitem">
-            <a href="../../../src/examples/cpp03/iostreams/http_client.cpp" target="_top">../src/examples/cpp03/iostreams/http_client.cpp</a>
-          </li>
-</ul></div>
-<h5>
-<a name="asio.examples.cpp03_examples.h13"></a>
-        <span><a name="asio.examples.cpp03_examples.multicast"></a></span><a class="link" href="cpp03_examples.html#asio.examples.cpp03_examples.multicast">Multicast</a>
-      </h5>
-<p>
-        An example showing the use of multicast to transmit packets to a group of
-        subscribers.
-      </p>
-<div class="itemizedlist"><ul class="itemizedlist" type="disc">
-<li class="listitem">
-            <a href="../../../src/examples/cpp03/multicast/receiver.cpp" target="_top">../src/examples/cpp03/multicast/receiver.cpp</a>
-          </li>
-<li class="listitem">
-            <a href="../../../src/examples/cpp03/multicast/sender.cpp" target="_top">../src/examples/cpp03/multicast/sender.cpp</a>
-          </li>
-</ul></div>
-<h5>
-<a name="asio.examples.cpp03_examples.h14"></a>
-        <span><a name="asio.examples.cpp03_examples.serialization"></a></span><a class="link" href="cpp03_examples.html#asio.examples.cpp03_examples.serialization">Serialization</a>
-      </h5>
-<p>
-        This example shows how Boost.Serialization can be used with asio to encode
-        and decode structures for transmission over a socket.
-      </p>
-<div class="itemizedlist"><ul class="itemizedlist" type="disc">
-<li class="listitem">
-            <a href="../../../src/examples/cpp03/serialization/client.cpp" target="_top">../src/examples/cpp03/serialization/client.cpp</a>
-          </li>
-<li class="listitem">
-            <a href="../../../src/examples/cpp03/serialization/connection.hpp" target="_top">../src/examples/cpp03/serialization/connection.hpp</a>
-          </li>
-<li class="listitem">
-            <a href="../../../src/examples/cpp03/serialization/server.cpp" target="_top">../src/examples/cpp03/serialization/server.cpp</a>
-          </li>
-<li class="listitem">
-            <a href="../../../src/examples/cpp03/serialization/stock.hpp" target="_top">../src/examples/cpp03/serialization/stock.hpp</a>
-          </li>
-</ul></div>
-<h5>
-<a name="asio.examples.cpp03_examples.h15"></a>
-        <span><a name="asio.examples.cpp03_examples.services"></a></span><a class="link" href="cpp03_examples.html#asio.examples.cpp03_examples.services">Services</a>
-      </h5>
-<p>
-        This example demonstrates how to integrate custom functionality (in this
-        case, for logging) into asio's <a class="link" href="../reference/io_context.html" title="io_context">io_context</a>,
-        and how to use a custom service with <a class="link" href="../reference/basic_stream_socket.html" title="basic_stream_socket">basic_stream_socket&lt;&gt;</a>.
-      </p>
-<div class="itemizedlist"><ul class="itemizedlist" type="disc">
-<li class="listitem">
-            <a href="../../../src/examples/cpp03/services/basic_logger.hpp" target="_top">../src/examples/cpp03/services/basic_logger.hpp</a>
-          </li>
-<li class="listitem">
-            <a href="../../../src/examples/cpp03/services/daytime_client.cpp" target="_top">../src/examples/cpp03/services/daytime_client.cpp</a>
-          </li>
-<li class="listitem">
-            <a href="../../../src/examples/cpp03/services/logger.hpp" target="_top">../src/examples/cpp03/services/logger.hpp</a>
-          </li>
-<li class="listitem">
-            <a href="../../../src/examples/cpp03/services/logger_service.cpp" target="_top">../src/examples/cpp03/services/logger_service.cpp</a>
-          </li>
-<li class="listitem">
-            <a href="../../../src/examples/cpp03/services/logger_service.hpp" target="_top">../src/examples/cpp03/services/logger_service.hpp</a>
-          </li>
-<li class="listitem">
-            <a href="../../../src/examples/cpp03/services/stream_socket_service.hpp" target="_top">../src/examples/cpp03/services/stream_socket_service.hpp</a>
-          </li>
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-<h5>
-<a name="asio.examples.cpp03_examples.h16"></a>
-        <span><a name="asio.examples.cpp03_examples.socks_4"></a></span><a class="link" href="cpp03_examples.html#asio.examples.cpp03_examples.socks_4">SOCKS
-        4</a>
-      </h5>
-<p>
-        Example client program implementing the SOCKS 4 protocol for communication
-        via a proxy.
-      </p>
-<div class="itemizedlist"><ul class="itemizedlist" type="disc">
-<li class="listitem">
-            <a href="../../../src/examples/cpp03/socks4/sync_client.cpp" target="_top">../src/examples/cpp03/socks4/sync_client.cpp</a>
-          </li>
-<li class="listitem">
-            <a href="../../../src/examples/cpp03/socks4/socks4.hpp" target="_top">../src/examples/cpp03/socks4/socks4.hpp</a>
-          </li>
-</ul></div>
-<h5>
-<a name="asio.examples.cpp03_examples.h17"></a>
-        <span><a name="asio.examples.cpp03_examples.ssl"></a></span><a class="link" href="cpp03_examples.html#asio.examples.cpp03_examples.ssl">SSL</a>
-      </h5>
-<p>
-        Example client and server programs showing the use of the <a class="link" href="../reference/ssl__stream.html" title="ssl::stream">ssl::stream&lt;&gt;</a>
-        template with asynchronous operations.
-      </p>
-<div class="itemizedlist"><ul class="itemizedlist" type="disc">
-<li class="listitem">
-            <a href="../../../src/examples/cpp03/ssl/client.cpp" target="_top">../src/examples/cpp03/ssl/client.cpp</a>
-          </li>
-<li class="listitem">
-            <a href="../../../src/examples/cpp03/ssl/server.cpp" target="_top">../src/examples/cpp03/ssl/server.cpp</a>
-          </li>
-</ul></div>
-<h5>
-<a name="asio.examples.cpp03_examples.h18"></a>
-        <span><a name="asio.examples.cpp03_examples.timeouts"></a></span><a class="link" href="cpp03_examples.html#asio.examples.cpp03_examples.timeouts">Timeouts</a>
-      </h5>
-<p>
-        A collection of examples showing how to cancel long running asynchronous
-        operations after a period of time.
-      </p>
-<div class="itemizedlist"><ul class="itemizedlist" type="disc">
-<li class="listitem">
-            <a href="../../../src/examples/cpp03/timeouts/async_tcp_client.cpp" target="_top">../src/examples/cpp03/timeouts/async_tcp_client.cpp</a>
-          </li>
-<li class="listitem">
-            <a href="../../../src/examples/cpp03/timeouts/blocking_tcp_client.cpp" target="_top">../src/examples/cpp03/timeouts/blocking_tcp_client.cpp</a>
-          </li>
-<li class="listitem">
-            <a href="../../../src/examples/cpp03/timeouts/blocking_token_tcp_client.cpp" target="_top">../src/examples/cpp03/timeouts/blocking_token_tcp_client.cpp</a>
-          </li>
-<li class="listitem">
-            <a href="../../../src/examples/cpp03/timeouts/blocking_udp_client.cpp" target="_top">../src/examples/cpp03/timeouts/blocking_udp_client.cpp</a>
-          </li>
-<li class="listitem">
-            <a href="../../../src/examples/cpp03/timeouts/server.cpp" target="_top">../src/examples/cpp03/timeouts/server.cpp</a>
-          </li>
-</ul></div>
-<h5>
-<a name="asio.examples.cpp03_examples.h19"></a>
-        <span><a name="asio.examples.cpp03_examples.timers"></a></span><a class="link" href="cpp03_examples.html#asio.examples.cpp03_examples.timers">Timers</a>
-      </h5>
-<p>
-        Example showing how to customise basic_waitable_timer using a different clock
-        type.
-      </p>
-<div class="itemizedlist"><ul class="itemizedlist" type="disc"><li class="listitem">
-            <a href="../../../src/examples/cpp03/timers/time_t_timer.cpp" target="_top">../src/examples/cpp03/timers/time_t_timer.cpp</a>
-          </li></ul></div>
-<h5>
-<a name="asio.examples.cpp03_examples.h20"></a>
-        <span><a name="asio.examples.cpp03_examples.porthopper"></a></span><a class="link" href="cpp03_examples.html#asio.examples.cpp03_examples.porthopper">Porthopper</a>
-      </h5>
-<p>
-        Example illustrating mixed synchronous and asynchronous operations, and how
-        to use Boost.Lambda with Asio.
-      </p>
-<div class="itemizedlist"><ul class="itemizedlist" type="disc">
-<li class="listitem">
-            <a href="../../../src/examples/cpp03/porthopper/protocol.hpp" target="_top">../src/examples/cpp03/porthopper/protocol.hpp</a>
-          </li>
-<li class="listitem">
-            <a href="../../../src/examples/cpp03/porthopper/client.cpp" target="_top">../src/examples/cpp03/porthopper/client.cpp</a>
-          </li>
-<li class="listitem">
-            <a href="../../../src/examples/cpp03/porthopper/server.cpp" target="_top">../src/examples/cpp03/porthopper/server.cpp</a>
-          </li>
-</ul></div>
-<h5>
-<a name="asio.examples.cpp03_examples.h21"></a>
-        <span><a name="asio.examples.cpp03_examples.nonblocking"></a></span><a class="link" href="cpp03_examples.html#asio.examples.cpp03_examples.nonblocking">Nonblocking</a>
-      </h5>
-<p>
-        Example demonstrating reactor-style operations for integrating a third-party
-        library that wants to perform the I/O operations itself.
-      </p>
-<div class="itemizedlist"><ul class="itemizedlist" type="disc"><li class="listitem">
-            <a href="../../../src/examples/cpp03/nonblocking/third_party_lib.cpp" target="_top">../src/examples/cpp03/nonblocking/third_party_lib.cpp</a>
-          </li></ul></div>
-<h5>
-<a name="asio.examples.cpp03_examples.h22"></a>
-        <span><a name="asio.examples.cpp03_examples.spawn"></a></span><a class="link" href="cpp03_examples.html#asio.examples.cpp03_examples.spawn">Spawn</a>
-      </h5>
-<p>
-        Example of using the asio::spawn() function, a wrapper around the <a href="http://www.boost.org/doc/libs/release/libs/coroutine/index.html" target="_top">Boost.Coroutine</a>
-        library, to implement a chain of asynchronous operations using stackful coroutines.
-      </p>
-<div class="itemizedlist"><ul class="itemizedlist" type="disc"><li class="listitem">
-            <a href="../../../src/examples/cpp03/spawn/echo_server.cpp" target="_top">../src/examples/cpp03/spawn/echo_server.cpp</a>
-          </li></ul></div>
-<h5>
-<a name="asio.examples.cpp03_examples.h23"></a>
-        <span><a name="asio.examples.cpp03_examples.unix_domain_sockets"></a></span><a class="link" href="cpp03_examples.html#asio.examples.cpp03_examples.unix_domain_sockets">UNIX
-        Domain Sockets</a>
-      </h5>
-<p>
-        Examples showing how to use UNIX domain (local) sockets.
-      </p>
-<div class="itemizedlist"><ul class="itemizedlist" type="disc">
-<li class="listitem">
-            <a href="../../../src/examples/cpp03/local/connect_pair.cpp" target="_top">../src/examples/cpp03/local/connect_pair.cpp</a>
-          </li>
-<li class="listitem">
-            <a href="../../../src/examples/cpp03/local/iostream_client.cpp" target="_top">../src/examples/cpp03/local/iostream_client.cpp</a>
-          </li>
-<li class="listitem">
-            <a href="../../../src/examples/cpp03/local/stream_server.cpp" target="_top">../src/examples/cpp03/local/stream_server.cpp</a>
-          </li>
-<li class="listitem">
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-        An example showing how to use the Windows-specific function <code class="computeroutput">TransmitFile</code>
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-        This example shows how to customise the allocation of memory associated with
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-        This example implements a chat server and client. The programs use a custom
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-<p>
-        Example demonstrating reactor-style operations for integrating a third-party
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-      </p>
-<div class="itemizedlist"><ul class="itemizedlist" type="disc"><li class="listitem">
-            <a href="../../../src/examples/cpp11/nonblocking/third_party_lib.cpp" target="_top">../src/examples/cpp11/nonblocking/third_party_lib.cpp</a>
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-        <span><a name="asio.examples.cpp11_examples.spawn"></a></span><a class="link" href="cpp11_examples.html#asio.examples.cpp11_examples.spawn">Spawn</a>
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-<p>
-        Example of using the asio::spawn() function, a wrapper around the <a href="http://www.boost.org/doc/libs/release/libs/coroutine/index.html" target="_top">Boost.Coroutine</a>
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-<p>
-        Examples showing how to use UNIX domain (local) sockets.
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-<li class="listitem">
-            <a href="../../../src/examples/cpp11/local/stream_server.cpp" target="_top">../src/examples/cpp11/local/stream_server.cpp</a>
-            (<a href="../../examples/diffs/local/stream_server.cpp.html" target="_top">diff to C++03</a>)
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-<li class="listitem">
-            <a href="../../../src/examples/cpp11/local/stream_client.cpp" target="_top">../src/examples/cpp11/local/stream_client.cpp</a>
-            (<a href="../../examples/diffs/local/stream_client.cpp.html" target="_top">diff to C++03</a>)
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-</ul></div>
-</div>
-<table xmlns:rev="http://www.cs.rpi.edu/~gregod/boost/tools/doc/revision" width="100%"><tr>
-<td align="left"></td>
-<td align="right"><div class="copyright-footer">Copyright &#169; 2003-2018 Christopher M. Kohlhoff<p>
-        Distributed under the Boost Software License, Version 1.0. (See accompanying
-        file LICENSE_1_0.txt or copy at <a href="http://www.boost.org/LICENSE_1_0.txt" target="_top">http://www.boost.org/LICENSE_1_0.txt</a>)
-      </p>
-</div></td>
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