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moved serial connect to scout and tracer interface only

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This commit is contained in:
Ruixiang Du
2021-07-14 23:43:36 +08:00
parent 7c3e96313d
commit 541ec08514
4 changed files with 11 additions and 6 deletions
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7
include/ugv_sdk/details/interface/robot_common_interface.hpp
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@@ -43,14 +43,11 @@ class RobotCommonInterface {
// functions to be implemented by each robot class
virtual void Connect(std::string can_name) = 0;
// functions to be implemented by each robot class
virtual void Connect(std::string uart_name, uint32_t baudrate){
// use derived version
};
virtual void ResetRobotState() = 0;
virtual void DisableLightControl() {
// use derived version
// do nothing if no light on robot
}
virtual ProtocolVersion GetProtocolVersion() = 0;

4
include/ugv_sdk/details/interface/scout_interface.hpp
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@@ -34,6 +34,10 @@ struct ScoutActuatorState {
struct ScoutInterface {
virtual ~ScoutInterface() = default;
virtual void Connect(std::string uart_name, uint32_t baudrate){
// use derived version
};
virtual void SetMotionCommand(double linear_vel, double angular_vel) = 0;
virtual void SetLightCommand(LightMode f_mode, uint8_t f_value,
LightMode r_mode, uint8_t r_value) = 0;

4
include/ugv_sdk/details/interface/tracer_interface.hpp
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@@ -31,6 +31,10 @@ struct TracerActuatorState {
struct TracerInterface {
virtual ~TracerInterface() = default;
virtual void Connect(std::string uart_name, uint32_t baudrate){
// use derived version
};
virtual void SetMotionCommand(double linear_vel, double angular_vel) = 0;
virtual void SetLightCommand(LightMode f_mode, uint8_t f_value) = 0;