fixed scout_base decoding

include/ugv_sdk/details/protocol_v1/scout_base_v1.hpp

@@ -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 */

include/ugv_sdk/details/protocol_v2/agilex_msg_parser.h

@@ -1,41 +0,0 @@
-/* 
- * agilex_msg_parser.h
- * 
- * Created on: Dec 22, 2020 17:11
- * Description: public API to encode/decode protocol messages
- * 
- * Copyright (c) 2020 Ruixiang Du (rdu)
- */ 
-
-#ifndef AGILEX_MSG_PARSER_H
-#define AGILEX_MSG_PARSER_H
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include <stdint.h>
-#include <stdbool.h>
-#include <string.h>
-
-#ifdef __linux__
-#include <linux/can.h>
-#else
-struct can_frame {
-  uint32_t can_id;
-  uint8_t can_dlc;
-  uint8_t data[8] __attribute__((aligned(8)));
-};
-#endif
-
-#include "ugv_sdk/details/interface/agilex_message.h"
-
-bool DecodeCanFrame(const struct can_frame *rx_frame, AgxMessage *msg);
-void EncodeCanFrame(const AgxMessage *msg, struct can_frame *tx_frame);
-uint8_t CalcCanFrameChecksum(uint16_t id, uint8_t *data, uint8_t dlc);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif /* AGILEX_MSG_PARSER_H */

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>

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_);
   }