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interface: changed void Connect() to bool Connect()

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This commit is contained in:
Ruixiang Du
2021-10-05 15:41:48 +08:00
parent c5faa29368
commit 3069712c5a
14 changed files with 33 additions and 25 deletions
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2
include/ugv_sdk/details/interface/ranger_interface.hpp
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@@ -39,7 +39,7 @@ struct RangerActuatorState {
///////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////
struct RangerInterface { struct RangerInterface {
virtual void Connect(std::string dev_name) = 0; virtual bool Connect(std::string dev_name) = 0;
// robot control // robot control
virtual void SetMotionMode(uint8_t mode) = 0; virtual void SetMotionMode(uint8_t mode) = 0;

2
include/ugv_sdk/details/interface/robot_common_interface.hpp
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@@ -50,7 +50,7 @@ class RobotCommonInterface {
virtual void EnableCommandedMode() = 0; virtual void EnableCommandedMode() = 0;
// functions to be implemented by each robot class // functions to be implemented by each robot class
virtual void Connect(std::string can_name) = 0; virtual bool Connect(std::string can_name) = 0;
virtual void ResetRobotState() = 0; virtual void ResetRobotState() = 0;

13
include/ugv_sdk/details/robot_base/agilex_base.hpp
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@@ -45,9 +45,10 @@ class AgilexBase : public RobotCommonInterface {
AgilexBase(const AgilexBase &hunter) = delete; AgilexBase(const AgilexBase &hunter) = delete;
AgilexBase &operator=(const AgilexBase &hunter) = delete; AgilexBase &operator=(const AgilexBase &hunter) = delete;
void Connect(std::string can_name) override { bool Connect(std::string can_name) override {
ConnectPort(can_name, std::bind(&AgilexBase<ParserType>::ParseCANFrame, return ConnectPort(can_name,
this, std::placeholders::_1)); std::bind(&AgilexBase<ParserType>::ParseCANFrame, this,
std::placeholders::_1));
} }
// switch to commanded mode // switch to commanded mode
@@ -179,11 +180,11 @@ class AgilexBase : public RobotCommonInterface {
// connect to roboot from CAN or serial // connect to roboot from CAN or serial
using CANFrameRxCallback = AsyncCAN::ReceiveCallback; using CANFrameRxCallback = AsyncCAN::ReceiveCallback;
void ConnectPort(std::string dev_name, CANFrameRxCallback cb) { bool ConnectPort(std::string dev_name, CANFrameRxCallback cb) {
can_ = std::make_shared<AsyncCAN>(dev_name); can_ = std::make_shared<AsyncCAN>(dev_name);
can_->SetReceiveCallback(cb); can_->SetReceiveCallback(cb);
can_->StartListening(); can_connected_ = can_->StartListening();
can_connected_ = true; return can_connected_;
} }
void DisconnectPort() { void DisconnectPort() {

4
include/ugv_sdk/details/robot_base/bunker_base.hpp
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@@ -26,8 +26,8 @@ class BunkerBase : public AgilexBase<ParserType>, public BunkerInterface {
~BunkerBase() = default; ~BunkerBase() = default;
// set up connection // set up connection
void Connect(std::string can_name) override { bool Connect(std::string can_name) override {
AgilexBase<ParserType>::Connect(can_name); return AgilexBase<ParserType>::Connect(can_name);
} }
// robot control // robot control

4
include/ugv_sdk/details/robot_base/hunter_base.hpp
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@@ -26,8 +26,8 @@ class HunterBase : public AgilexBase<ParserType>, public HunterInterface {
~HunterBase() = default; ~HunterBase() = default;
// set up connection // set up connection
void Connect(std::string can_name) override { bool Connect(std::string can_name) override {
AgilexBase<ParserType>::Connect(can_name); return AgilexBase<ParserType>::Connect(can_name);
} }
// robot control // robot control

7
include/ugv_sdk/details/robot_base/ranger_base.hpp
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@@ -27,9 +27,10 @@ class RangerBase : public AgilexBase<ProtocolV2Parser>, public RangerInterface {
~RangerBase() = default; ~RangerBase() = default;
// set up connection // set up connection
void Connect(std::string dev_name) override { bool Connect(std::string dev_name) override {
AgilexBase::ConnectPort(dev_name, std::bind(&RangerBase::ParseCANFrame, return AgilexBase::ConnectPort(
this, std::placeholders::_1)); dev_name,
std::bind(&RangerBase::ParseCANFrame, this, std::placeholders::_1));
} }
// robot control // robot control

4
include/ugv_sdk/details/robot_base/scout_base.hpp
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@@ -26,8 +26,8 @@ class ScoutBase : public AgilexBase<ParserType>, public ScoutInterface {
~ScoutBase() = default; ~ScoutBase() = default;
// set up connection // set up connection
void Connect(std::string can_name) override { bool Connect(std::string can_name) override {
AgilexBase<ParserType>::Connect(can_name); return AgilexBase<ParserType>::Connect(can_name);
} }
void Connect(std::string uart_name, uint32_t baudrate) override { void Connect(std::string uart_name, uint32_t baudrate) override {

4
include/ugv_sdk/details/robot_base/tracer_base.hpp
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@@ -28,8 +28,8 @@ class TracerBaseV2 : public AgilexBase<ProtocolV2Parser>,
~TracerBaseV2() = default; ~TracerBaseV2() = default;
// set up connection // set up connection
void Connect(std::string can_name) override { bool Connect(std::string can_name) override {
AgilexBase<ProtocolV2Parser>::Connect(can_name); return AgilexBase<ProtocolV2Parser>::Connect(can_name);
} }
void Connect(std::string uart_name, uint32_t baudrate) override { void Connect(std::string uart_name, uint32_t baudrate) override {

2
include/ugv_sdk/mobile_robot/bunker_robot.hpp
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@@ -21,7 +21,7 @@ class BunkerRobot : public RobotCommonInterface, public BunkerInterface {
BunkerRobot(ProtocolVersion protocol = ProtocolVersion::AGX_V2); BunkerRobot(ProtocolVersion protocol = ProtocolVersion::AGX_V2);
~BunkerRobot(); ~BunkerRobot();
void Connect(std::string can_name) override; bool Connect(std::string can_name) override;
void EnableCommandedMode() override; void EnableCommandedMode() override;

2
include/ugv_sdk/mobile_robot/hunter_robot.hpp
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@@ -21,7 +21,7 @@ class HunterRobot : public RobotCommonInterface, public HunterInterface {
HunterRobot(ProtocolVersion protocol = ProtocolVersion::AGX_V2); HunterRobot(ProtocolVersion protocol = ProtocolVersion::AGX_V2);
~HunterRobot(); ~HunterRobot();
void Connect(std::string can_name) override; bool Connect(std::string can_name) override;
void EnableCommandedMode() override; void EnableCommandedMode() override;

2
include/ugv_sdk/mobile_robot/scout_robot.hpp
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@@ -22,7 +22,7 @@ class ScoutRobot : public RobotCommonInterface, public ScoutInterface {
bool is_mini_model = false); bool is_mini_model = false);
virtual ~ScoutRobot(); virtual ~ScoutRobot();
void Connect(std::string can_name) override; bool Connect(std::string can_name) override;
void Connect(std::string uart_name, uint32_t baudrate) override; void Connect(std::string uart_name, uint32_t baudrate) override;
void EnableCommandedMode() override; void EnableCommandedMode() override;

4
src/mobile_robot/bunker_robot.cpp
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@@ -25,7 +25,9 @@ BunkerRobot::~BunkerRobot() {
void BunkerRobot::EnableCommandedMode() { robot_->EnableCommandedMode(); } void BunkerRobot::EnableCommandedMode() { robot_->EnableCommandedMode(); }
void BunkerRobot::Connect(std::string can_name) { robot_->Connect(can_name); } bool BunkerRobot::Connect(std::string can_name) {
return robot_->Connect(can_name);
}
void BunkerRobot::ResetRobotState() { robot_->ResetRobotState(); } void BunkerRobot::ResetRobotState() { robot_->ResetRobotState(); }

4
src/mobile_robot/hunter_robot.cpp
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@@ -25,7 +25,9 @@ HunterRobot::~HunterRobot() {
void HunterRobot::EnableCommandedMode() { robot_->EnableCommandedMode(); } void HunterRobot::EnableCommandedMode() { robot_->EnableCommandedMode(); }
void HunterRobot::Connect(std::string can_name) { robot_->Connect(can_name); } bool HunterRobot::Connect(std::string can_name) {
return robot_->Connect(can_name);
}
void HunterRobot::ResetRobotState() { robot_->ResetRobotState(); } void HunterRobot::ResetRobotState() { robot_->ResetRobotState(); }

4
src/mobile_robot/scout_robot.cpp
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@@ -33,7 +33,9 @@ ScoutRobot::~ScoutRobot() {
void ScoutRobot::EnableCommandedMode() { robot_->EnableCommandedMode(); } void ScoutRobot::EnableCommandedMode() { robot_->EnableCommandedMode(); }
void ScoutRobot::Connect(std::string can_name) { robot_->Connect(can_name); } bool ScoutRobot::Connect(std::string can_name) {
return robot_->Connect(can_name);
}
void ScoutRobot::Connect(std::string uart_name, uint32_t baudrate) { void ScoutRobot::Connect(std::string uart_name, uint32_t baudrate) {
// robot_->Connect(uart_name, baudrate); // robot_->Connect(uart_name, baudrate);