saved work

include/wrp_sdk/platforms/common/mobile_base.hpp

@@ -17,7 +17,6 @@
 #include <cstdint>
 #include <thread>
 #include <mutex>
-#include <functional>
 
 #include "wrp_sdk/asyncio/async_can.hpp"
 #include "wrp_sdk/asyncio/async_serial.hpp"
@@ -64,10 +63,11 @@ class MobileBase {
   void StartCmdThread();
   void ControlLoop(int32_t period_ms);
 
+  // functions that must/may be implemented by child classes
   virtual void SendRobotCmd() = 0;
-  virtual void ParseCANFrame(can_frame *rx_frame) = 0;
+  virtual void ParseCANFrame(can_frame *rx_frame){};
   virtual void ParseUARTBuffer(uint8_t *buf, const size_t bufsize,
-                               size_t bytes_received) = 0;
+                               size_t bytes_received){};
 };
 }  // namespace westonrobot
 

include/wrp_sdk/platforms/hunter/hunter_base.hpp

@@ -14,84 +14,50 @@
 #include <cstdint>
 #include <thread>
 #include <mutex>
-#include <functional>
 
-#include "wrp_sdk/asyncio/async_can.hpp"
-#include "wrp_sdk/asyncio/async_serial.hpp"
+#include "wrp_sdk/platforms/common/mobile_base.hpp"
 
 #include "wrp_sdk/platforms/hunter/hunter_protocol.h"
 #include "wrp_sdk/platforms/hunter/hunter_can_parser.h"
-
 #include "wrp_sdk/platforms/hunter/hunter_types.hpp"
 
 namespace westonrobot {
-class HunterBase {
+class HunterBase : public MobileBase {
  public:
-  HunterBase() = default;
-  ~HunterBase();
+  HunterBase() : MobileBase(){};
+  ~HunterBase() = default;
 
-  // do not allow copy
-  HunterBase(const HunterBase &hunter) = delete;
-  HunterBase &operator=(const HunterBase &hunter) = delete;
-
- public:
-  // connect to roboot from CAN
-  void Connect(std::string dev_name);
-
-  // disconnect from roboot, only valid for serial port
-  void Disconnect();
-
-  // cmd thread runs at 100Hz (10ms) by default
-  void SetCmdThreadPeriodMs(int32_t period_ms) {
-    cmd_thread_period_ms_ = period_ms;
-  };
+  // get robot state
+  HunterState GetHunterState();
 
   // motion control
   void SetMotionCommand(double linear_vel, double steering_angle,
                         HunterMotionCmd::FaultClearFlag fault_clr_flag =
                             HunterMotionCmd::FaultClearFlag::NO_FAULT);
 
-  // get robot state
-  HunterState GetHunterState();
-
  private:
-  // hardware communication interface
-  std::shared_ptr<ASyncCAN> can_if_;
-  std::shared_ptr<ASyncSerial> serial_if_;
-
-  // CAN priority higher than serial if both connected
-  bool can_connected_ = false;
-  bool serial_connected_ = false;
-
   // serial port related variables
   uint8_t tx_cmd_len_;
   uint8_t tx_buffer_[HUNTER_CMD_BUF_LEN];
 
   // cmd/status update related variables
-  std::thread cmd_thread_;
   std::mutex hunter_state_mutex_;
   std::mutex motion_cmd_mutex_;
 
   HunterState hunter_state_;
   HunterMotionCmd current_motion_cmd_;
 
-  int32_t cmd_thread_period_ms_ = 10;
-  bool cmd_thread_started_ = false;
-
   // internal functions
   void ConfigureCANBus(const std::string &can_if_name = "can1");
   void ConfigureSerial(const std::string uart_name = "/dev/ttyUSB0",
                        int32_t baud_rate = 115200);
 
-  void StartCmdThread();
-  void ControlLoop(int32_t period_ms);
+  void SendRobotCmd() override;
+  void ParseCANFrame(can_frame *rx_frame) override;
+  void ParseUARTBuffer(uint8_t *buf, const size_t bufsize,
+                       size_t bytes_received) override{};
 
   void SendMotionCmd(uint8_t count);
-
-  void ParseCANFrame(can_frame *rx_frame);
-  void ParseUARTBuffer(uint8_t *buf, const size_t bufsize,
-                       size_t bytes_received);
-
   void NewStatusMsgReceivedCallback(const HunterMessage &msg);
 
  public: