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/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_);
   }

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"

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,