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This commit is contained in:
Ruixiang Du
2020-06-17 14:47:37 +08:00
parent 741c521863
commit 19197facc0
5 changed files with 52 additions and 184 deletions
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6
include/wrp_sdk/platforms/common/mobile_base.hpp
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@@ -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