fixed function duplicated def issue

include/ugv_sdk/details/protocol_v1/hunter_protocol_v1_parser.hpp

@@ -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 */

include/ugv_sdk/details/robot_base/ranger_base.cpp

@@ -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_);
 }

include/ugv_sdk/details/robot_base/tracer_base.cpp

@@ -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_);
 }

src/protocol_v1/agilex_msg_parser_v1.c

@@ -13,6 +13,6 @@
 #include "stdio.h"
 #include "string.h"
 
-bool DecodeCanFrame(const struct can_frame *rx_frame, AgxMessageV1 *msg) {}
+bool DecodeCanFrameV1(const struct can_frame *rx_frame, AgxMessageV1 *msg) {}
-void EncodeCanFrame(const AgxMessageV1 *msg, struct can_frame *tx_frame) {}
+void EncodeCanFrameV1(const AgxMessageV1 *msg, struct can_frame *tx_frame) {}
-uint8_t CalcCanFrameChecksum(uint16_t id, uint8_t *data, uint8_t dlc) {}
+uint8_t CalcCanFrameChecksumV1(uint16_t id, uint8_t *data, uint8_t dlc) {}

src/protocol_v1/agilex_msg_parser_v1.h

@@ -30,9 +30,9 @@ struct can_frame {
 
 #include "protocol_v1/agilex_message_v1.h"
 
-bool DecodeCanFrame(const struct can_frame *rx_frame, AgxMessageV1 *msg);
+bool DecodeCanFrameV1(const struct can_frame *rx_frame, AgxMessageV1 *msg);
-void EncodeCanFrame(const AgxMessageV1 *msg, struct can_frame *tx_frame);
+void EncodeCanFrameV1(const AgxMessageV1 *msg, struct can_frame *tx_frame);
-uint8_t CalcCanFrameChecksum(uint16_t id, uint8_t *data, uint8_t dlc);
+uint8_t CalcCanFrameChecksumV1(uint16_t id, uint8_t *data, uint8_t dlc);
 
 #ifdef __cplusplus
 }

src/protocol_v2/agilex_msg_parser_v2.c

@@ -13,7 +13,7 @@
 #include "stdio.h"
 #include "string.h"
 
-bool DecodeCanFrame(const struct can_frame *rx_frame, AgxMessage *msg) {
+bool DecodeCanFrameV2(const struct can_frame *rx_frame, AgxMessage *msg) {
   msg->type = AgxMsgUnkonwn;
 
   switch (rx_frame->can_id) {
@@ -309,7 +309,7 @@ bool DecodeCanFrame(const struct can_frame *rx_frame, AgxMessage *msg) {
   return true;
 }
 
-void EncodeCanFrame(const AgxMessage *msg, struct can_frame *tx_frame) {
+void EncodeCanFrameV2(const AgxMessage *msg, struct can_frame *tx_frame) {
   switch (msg->type) {
     /***************** command frame *****************/
     case AgxMsgMotionCommand: {
@@ -595,7 +595,7 @@ void EncodeCanFrame(const AgxMessage *msg, struct can_frame *tx_frame) {
   }
 }
 
-uint8_t CalcCanFrameChecksum(uint16_t id, uint8_t *data, uint8_t dlc) {
+uint8_t CalcCanFrameChecksumV2(uint16_t id, uint8_t *data, uint8_t dlc) {
   uint8_t checksum = 0x00;
   checksum = (uint8_t)(id & 0x00ff) + (uint8_t)(id >> 8) + dlc;
   for (int i = 0; i < (dlc - 1); ++i) checksum += data[i];

src/protocol_v2/agilex_msg_parser_v2.h

@@ -30,9 +30,9 @@ struct can_frame {
 
 #include "ugv_sdk/details/interface/agilex_message.h"
 
-bool DecodeCanFrame(const struct can_frame *rx_frame, AgxMessage *msg);
+bool DecodeCanFrameV2(const struct can_frame *rx_frame, AgxMessage *msg);
-void EncodeCanFrame(const AgxMessage *msg, struct can_frame *tx_frame);
+void EncodeCanFrameV2(const AgxMessage *msg, struct can_frame *tx_frame);
-uint8_t CalcCanFrameChecksum(uint16_t id, uint8_t *data, uint8_t dlc);
+uint8_t CalcCanFrameChecksumV2(uint16_t id, uint8_t *data, uint8_t dlc);
 
 #ifdef __cplusplus
 }

src/protocol_v2/parser_impl/protocol_v2_parser.cpp

@@ -13,16 +13,16 @@
 namespace westonrobot {
 bool ProtocolV2Parser::DecodeMessage(const struct can_frame *rx_frame,
                                      AgxMessage *msg) {
-  return DecodeCanFrame(rx_frame, msg);
+  return DecodeCanFrameV2(rx_frame, msg);
 }
 
 void ProtocolV2Parser::EncodeMessage(const AgxMessage *msg,
                                      struct can_frame *tx_frame) {
-  EncodeCanFrame(msg, tx_frame);
+  EncodeCanFrameV2(msg, tx_frame);
 }
 
 uint8_t ProtocolV2Parser::CalculateChecksum(uint16_t id, uint8_t *data,
                                             uint8_t dlc) {
-  return CalcCanFrameChecksum(id, data, dlc);
+  return CalcCanFrameChecksumV2(id, data, dlc);
 }
 }  // namespace westonrobot