more code cleanup

include/wrp_sdk/asyncio/async_can.hpp

@@ -42,7 +42,7 @@
 // #include "async_io/device_error.hpp"
 // #include "async_io/msg_buffer.hpp"
 
-namespace wescore
+namespace westonrobot
 {
 using steady_clock = std::chrono::steady_clock;
 using lock_guard = std::lock_guard<std::recursive_mutex>;
@@ -125,6 +125,6 @@ private:
     void iostat_tx_add(std::size_t bytes);
     void iostat_rx_add(std::size_t bytes);
 };
-} // namespace wescore
+} // namespace westonrobot
 
 #endif /* ASYNC_CAN_HPP */

include/wrp_sdk/asyncio/async_serial.hpp

@@ -40,10 +40,10 @@
 
 #include "asio.hpp"
 
-#include "wrp_sdk/async_io/device_error.hpp"
-#include "wrp_sdk/async_io/msg_buffer.hpp"
+#include "wrp_sdk/asyncio/device_error.hpp"
+#include "wrp_sdk/asyncio/msg_buffer.hpp"
 
-namespace wescore
+namespace westonrobot
 {
 using steady_clock = std::chrono::steady_clock;
 using lock_guard = std::lock_guard<std::recursive_mutex>;
@@ -140,6 +140,6 @@ private:
     void iostat_tx_add(std::size_t bytes);
     void iostat_rx_add(std::size_t bytes);
 };
-} // namespace wescore
+} // namespace westonrobot
 
 #endif /* ASYNC_SERIAL_HPP */

include/wrp_sdk/asyncio/device_error.hpp

@@ -19,7 +19,7 @@
 #include <cstring>
 #include <stdexcept>
 
-namespace wescore
+namespace westonrobot
 {
 class DeviceError : public std::runtime_error
 {

include/wrp_sdk/asyncio/msg_buffer.hpp

@@ -19,7 +19,7 @@
 #include <cstring>
 #include <cassert>
 
-namespace wescore
+namespace westonrobot
 {
 
 /**
@@ -66,4 +66,4 @@ struct MsgBuffer
         return len - pos;
     }
 };
-} // namespace wescore
+} // namespace westonrobot

include/wrp_sdk/platforms/common/mobile_base.hpp

@@ -0,0 +1,96 @@
+/*
+ * mobile_base.hpp
+ *
+ * Created on: Jun 17, 2020 11:23
+ * Description:
+ *
+ * Generic mobile base: this class handles the communication
+ * logic that is similar across different mobile platforms
+ *
+ * Copyright (c) 2020 Ruixiang Du (rdu)
+ */
+
+#ifndef MOBILE_BASE_HPP
+#define MOBILE_BASE_HPP
+
+#include <string>
+#include <cstdint>
+#include <thread>
+#include <mutex>
+#include <functional>
+
+#include "wrp_sdk/asyncio/async_can.hpp"
+#include "wrp_sdk/asyncio/async_serial.hpp"
+
+namespace westonrobot {
+class MobileBase {
+ public:
+  MobileBase() = default;
+  virtual ~MobileBase();
+
+  // do not allow copy or assignment
+  MobileBase(const MobileBase &hunter) = delete;
+  MobileBase &operator=(const MobileBase &hunter) = delete;
+
+  // connect to roboot from CAN or serial
+  void Connect(std::string dev_name, int32_t baud_rate = 0);
+
+  // 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;
+  };
+
+  // motion control
+  void SetMotionCommand(double linear_vel, double steering_angle,
+                        HunterMotionCmd::FaultClearFlag fault_clr_flag =
+                            HunterMotionCmd::FaultClearFlag::NO_FAULT);
+
+  // get robot state
+  HunterState GetHunterState();
+
+ protected:
+  // 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 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);
+};
+}  // namespace westonrobot
+
+#endif /* MOBILE_BASE_HPP */

include/wrp_sdk/platforms/hunter/hunter_base.hpp

@@ -1,11 +1,11 @@
-/* 
+/*
  * hunter_base.hpp
- * 
+ *
  * Created on: Apr 01, 2020 09:43
- * Description: 
- * 
+ * Description:
+ *
  * Copyright (c) 2019 Ruixiang Du (rdu)
- */ 
+ */
 
 #ifndef HUNTER_BASE_HPP
 #define HUNTER_BASE_HPP
@@ -16,84 +16,88 @@
 #include <mutex>
 #include <functional>
 
-#include "wrp_sdk/async_io/async_can.hpp"
-#include "wrp_sdk/async_io/async_serial.hpp"
+#include "wrp_sdk/asyncio/async_can.hpp"
+#include "wrp_sdk/asyncio/async_serial.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 wescore
-{
-class HunterBase
-{
-public:
-    HunterBase() = default;
-    ~HunterBase();
+namespace westonrobot {
+class HunterBase {
+ public:
+  HunterBase() = default;
+  ~HunterBase();
 
-    // do not allow copy
-    HunterBase(const HunterBase &hunter) = delete;
-    HunterBase &operator=(const HunterBase &hunter) = delete;
+  // 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);
+ public:
+  // connect to roboot from CAN
+  void Connect(std::string dev_name);
 
-    // disconnect from roboot, only valid for serial port
-    void Disconnect();
+  // 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; };
+  // cmd thread runs at 100Hz (10ms) by default
+  void SetCmdThreadPeriodMs(int32_t period_ms) {
+    cmd_thread_period_ms_ = period_ms;
+  };
 
-    // motion control
-    void SetMotionCommand(double linear_vel, double steering_angle,
-                          HunterMotionCmd::FaultClearFlag fault_clr_flag = HunterMotionCmd::FaultClearFlag::NO_FAULT);
+  // motion control
+  void SetMotionCommand(double linear_vel, double steering_angle,
+                        HunterMotionCmd::FaultClearFlag fault_clr_flag =
+                            HunterMotionCmd::FaultClearFlag::NO_FAULT);
 
-    // get robot state
-    HunterState GetHunterState();
+  // get robot state
+  HunterState GetHunterState();
 
-private:
-    // hardware communication interface
-    std::shared_ptr<ASyncCAN> can_if_;
-    std::shared_ptr<ASyncSerial> serial_if_;
+ 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;
+  // 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];
+  // 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_;
+  // 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_;
+  HunterState hunter_state_;
+  HunterMotionCmd current_motion_cmd_;
 
-    int32_t cmd_thread_period_ms_ = 10;
-    bool cmd_thread_started_ = false;
+  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);
+  // 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 StartCmdThread();
+  void ControlLoop(int32_t period_ms);
 
-    void SendMotionCmd(uint8_t count);
+  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 ParseCANFrame(can_frame *rx_frame);
+  void ParseUARTBuffer(uint8_t *buf, const size_t bufsize,
+                       size_t bytes_received);
 
-    void NewStatusMsgReceivedCallback(const HunterMessage &msg);
+  void NewStatusMsgReceivedCallback(const HunterMessage &msg);
 
-public:
-    static void UpdateHunterState(const HunterMessage &status_msg, HunterState &state);
+ public:
+  static void UpdateHunterState(const HunterMessage &status_msg,
+                                HunterState &state);
 };
-} // namespace wescore
+}  // namespace westonrobot
 
 #endif /* HUNTER_BASE_HPP */

include/wrp_sdk/platforms/hunter/hunter_types.hpp

@@ -13,7 +13,7 @@
 #include <cstdint>
 #include <iostream>
 
-namespace wescore
+namespace westonrobot
 {
 struct HunterState
 {
@@ -69,6 +69,6 @@ struct HunterMotionCmd
     static constexpr double max_steering_angle = 0.4622;    // 0.4622 rad ~= 26.5 degree
     static constexpr double min_steering_angle = -0.4622;   // -0.4622 rad
 };
-} // namespace wescore
+} // namespace westonrobot
 
 #endif /* HUNTER_TYPES_HPP */

include/wrp_sdk/platforms/scout/scout_base.hpp

@@ -16,8 +16,8 @@
 #include <mutex>
 #include <functional>
 
-#include "wrp_sdk/async_io/async_can.hpp"
-#include "wrp_sdk/async_io/async_serial.hpp"
+#include "wrp_sdk/asyncio/async_can.hpp"
+#include "wrp_sdk/asyncio/async_serial.hpp"
 
 #include "wrp_sdk/platforms/scout/scout_protocol.h"
 #include "wrp_sdk/platforms/scout/scout_can_parser.h"
@@ -25,7 +25,7 @@
 
 #include "wrp_sdk/platforms/scout/scout_types.hpp"
 
-namespace wescore
+namespace westonrobot
 {
 class ScoutBase
 {
@@ -105,6 +105,6 @@ private:
 public:
     static void UpdateScoutState(const ScoutMessage &status_msg, ScoutState &state);
 };
-} // namespace wescore
+} // namespace westonrobot
 
 #endif /* SCOUT_BASE_HPP */

include/wrp_sdk/platforms/scout/scout_types.hpp

@@ -13,7 +13,7 @@
 #include <cstdint>
 #include <iostream>
 
-namespace wescore
+namespace westonrobot
 {
 struct ScoutState
 {
@@ -106,6 +106,6 @@ struct ScoutLightCmd
     LightMode rear_mode;
     uint8_t rear_custom_value;
 };
-} // namespace wescore
+} // namespace westonrobot
 
 #endif /* SCOUT_STATE_HPP */

include/wrp_sdk/platforms/tracer/tracer_base.hpp

@@ -24,7 +24,7 @@
 
 #include "tracer_base/tracer_types.hpp"
 
-namespace wescore
+namespace westonrobot
 {
 class TracerBase
 {
@@ -104,6 +104,6 @@ private:
 public:
     static void UpdateTracerState(const TracerMessage &status_msg, TracerState &state);
 };
-} // namespace wescore
+} // namespace westonrobot
 
 #endif /* TRACER_BASE_HPP */

include/wrp_sdk/platforms/tracer/tracer_types.hpp

@@ -13,7 +13,7 @@
 #include <cstdint>
 #include <iostream>
 
-namespace wescore
+namespace westonrobot
 {
 struct TracerState
 {
@@ -106,6 +106,6 @@ struct TracerLightCmd
     LightMode rear_mode;
     uint8_t rear_custom_value;
 };
-} // namespace wescore
+} // namespace westonrobot
 
 #endif /* TRACER_TYPES_HPP */