mirrors/ugv_sdk
1
0
Fork 0
mirror of https://github.com/westonrobot/ugv_sdk synced 2023-04-08 06:32:14 +08:00
Code Issues Packages Projects Releases Wiki Activity

fixed function duplicated def issue

Browse Source
This commit is contained in:
Ruixiang Du
2021-07-09 22:24:46 +08:00
parent 41f598c65c
commit 6a8073e90c
8 changed files with 43 additions and 17 deletions
Download Patch File Download Diff File Expand all files Collapse all files

26
include/ugv_sdk/details/protocol_v1/hunter_protocol_v1_parser.hpp Normal file
View File

@@ -0,0 +1,26 @@
/*
* hunter_protocol_v1_parser.hpp
*
* Created on: Jul 09, 2021 22:20
* Description:
*
* Copyright (c) 2021 Ruixiang Du (rdu)
*/
#ifndef HUNTER_PROTOCOL_V1_PARSER_HPP
#define HUNTER_PROTOCOL_V1_PARSER_HPP
#include "ugv_sdk/details/interface/parser_interface.hpp"
namespace westonrobot {
class HunterProtocolV1Parser : public ParserInterface {
public:
bool DecodeMessage(const struct can_frame *rx_frame,
AgxMessage *msg) override;
void EncodeMessage(const AgxMessage *msg,
struct can_frame *tx_frame) override;
uint8_t CalculateChecksum(uint16_t id, uint8_t *data, uint8_t dlc) override;
};
} // namespace westonrobot
#endif /* HUNTER_PROTOCOL_V1_PARSER_HPP */

2
include/ugv_sdk/details/robot_base/ranger_base.cpp
View File

@@ -53,7 +53,7 @@ RangerState RangerBase::GetRangerState() {
void RangerBase::ParseCANFrame(can_frame *rx_frame) {
AgxMessage status_msg;
DecodeCanFrame(rx_frame, &status_msg);
DecodeCanFrameV2(rx_frame, &status_msg);
std::lock_guard<std::mutex> guard(state_mutex_);
UpdateRangerState(status_msg, ranger_state_);
}

2
include/ugv_sdk/details/robot_base/tracer_base.cpp
View File

@@ -42,7 +42,7 @@ TracerState TracerBaseV2::GetTracerState() {
void TracerBaseV2::ParseCANFrame(can_frame *rx_frame) {
AgxMessage status_msg;
DecodeCanFrame(rx_frame, &status_msg);
DecodeCanFrameV2(rx_frame, &status_msg);
std::lock_guard<std::mutex> guard(state_mutex_);
UpdateTracerState(status_msg, tracer_state_);
}