From 0f6ce713134e03addfb908f28c2df7d4bb0dba56 Mon Sep 17 00:00:00 2001
From: Ruixiang Du <ruixiang.du@gmail.com>
Date: Fri, 9 Jul 2021 00:10:39 +0800
Subject: [PATCH] fixed scout_base decoding

---
 .../details/protocol_v1/scout_base_v1.hpp     | 52 -------------------
 .../details/robot_base/agilex_base.hpp        |  1 -
 .../ugv_sdk/details/robot_base/scout_base.hpp |  2 +-
 .../protocol_v2/agilex_msg_parser.h           |  0
 src/protocol_v2/agx_msg_parser.c              |  2 +-
 src/protocol_v2/protocol_v2_parser.cpp        |  2 +-
 6 files changed, 3 insertions(+), 56 deletions(-)
 delete mode 100644 include/ugv_sdk/details/protocol_v1/scout_base_v1.hpp
 rename {include/ugv_sdk/details => src}/protocol_v2/agilex_msg_parser.h (100%)

diff --git a/include/ugv_sdk/details/protocol_v1/scout_base_v1.hpp b/include/ugv_sdk/details/protocol_v1/scout_base_v1.hpp
deleted file mode 100644
index e30e199..0000000
--- a/include/ugv_sdk/details/protocol_v1/scout_base_v1.hpp
+++ /dev/null
@@ -1,52 +0,0 @@
-/*
- * scout_base_v1.hpp
- *
- * Created on: Jul 08, 2021 22:47
- * Description:
- *
- * Copyright (c) 2021 Ruixiang Du (rdu)
- */
-
-#ifndef SCOUT_BASE_V1_HPP
-#define SCOUT_BASE_V1_HPP
-
-#include <string>
-#include <cstdint>
-#include <thread>
-#include <mutex>
-
-#include "ugv_sdk/interface/scout_interface.hpp"
-
-#include "ugv_sdk/mobile_base/agilex_base.hpp"
-#include "ugv_sdk/protocol_v1/scout_protocol_v1_parser.hpp"
-
-namespace westonrobot {
-class ScoutBaseV1 : public AgilexBase<ScoutProtocolV1Parser>,
-                    public ScoutInterface {
- public:
-  ScoutBaseV1() : AgilexBase<ScoutProtocolV1Parser>(){};
-  ~ScoutBaseV1() = default;
-
-  // set up connection
-  void Connect(std::string can_name) override;
-  void Connect(std::string uart_name, uint32_t baudrate) override;
-
-  // robot control
-  void SetMotionCommand(double linear_vel, double angular_vel) override;
-  void SetLightCommand(LightMode f_mode, uint8_t f_value, LightMode r_mode,
-                       uint8_t r_value) override;
-
-  // get robot state
-  ScoutState GetRobotState() override;
-
-  void ResetRobotState() override {}
-
- private:
-  ScoutState scout_state_;
-
-  void ParseCANFrame(can_frame *rx_frame) override;
-  void UpdateScoutState(const AgxMessage &status_msg, ScoutState &state);
-};
-}  // namespace westonrobot
-
-#endif /* SCOUT_BASE_V1_HPP */
diff --git a/include/ugv_sdk/details/robot_base/agilex_base.hpp b/include/ugv_sdk/details/robot_base/agilex_base.hpp
index 9a06c0a..2ccf36b 100644
--- a/include/ugv_sdk/details/robot_base/agilex_base.hpp
+++ b/include/ugv_sdk/details/robot_base/agilex_base.hpp
@@ -25,7 +25,6 @@
 #include "ugv_sdk/details/stopwatch.hpp"
 #include "ugv_sdk/details/async_port/async_can.hpp"
 #include "ugv_sdk/details/interface/robot_interface.hpp"
-#include "ugv_sdk/details/protocol_v2/agilex_msg_parser.h"
 
 namespace westonrobot {
 template <typename ParserType>
diff --git a/include/ugv_sdk/details/robot_base/scout_base.hpp b/include/ugv_sdk/details/robot_base/scout_base.hpp
index 43b87d1..06a25ff 100644
--- a/include/ugv_sdk/details/robot_base/scout_base.hpp
+++ b/include/ugv_sdk/details/robot_base/scout_base.hpp
@@ -61,7 +61,7 @@ class ScoutBase : public AgilexBase<Parser>, public ScoutInterface {
 
   void ParseCANFrame(can_frame *rx_frame) override {
     AgxMessage status_msg;
-    DecodeCanFrame(rx_frame, &status_msg);
+    AgilexBase<Parser>::parser_.DecodeMessage(rx_frame, &status_msg);
     std::lock_guard<std::mutex> guard(AgilexBase<Parser>::state_mutex_);
     UpdateScoutState(status_msg, scout_state_);
   }
diff --git a/include/ugv_sdk/details/protocol_v2/agilex_msg_parser.h b/src/protocol_v2/agilex_msg_parser.h
similarity index 100%
rename from include/ugv_sdk/details/protocol_v2/agilex_msg_parser.h
rename to src/protocol_v2/agilex_msg_parser.h
diff --git a/src/protocol_v2/agx_msg_parser.c b/src/protocol_v2/agx_msg_parser.c
index 76d4227..1aeb908 100644
--- a/src/protocol_v2/agx_msg_parser.c
+++ b/src/protocol_v2/agx_msg_parser.c
@@ -8,7 +8,7 @@
  */
 
 #include "agx_protocol_v2.h"
-#include "ugv_sdk/details/protocol_v2/agilex_msg_parser.h"
+#include "protocol_v2/agilex_msg_parser.h"
 
 #include "stdio.h"
 #include "string.h"
diff --git a/src/protocol_v2/protocol_v2_parser.cpp b/src/protocol_v2/protocol_v2_parser.cpp
index 4341073..9ead7bf 100644
--- a/src/protocol_v2/protocol_v2_parser.cpp
+++ b/src/protocol_v2/protocol_v2_parser.cpp
@@ -7,8 +7,8 @@
  * Copyright (c) 2021 Weston Robot Pte. Ltd.
  */
 
-#include "ugv_sdk/details/protocol_v2/agilex_msg_parser.h"
 #include "ugv_sdk/details/protocol_v2/protocol_v2_parser.hpp"
+#include "protocol_v2/agilex_msg_parser.h"
 
 namespace westonrobot {
 bool ProtocolV2Parser::DecodeMessage(const struct can_frame *rx_frame,