updated scout base to use class MobileBase

include/wrp_sdk/platforms/hunter/hunter_base.hpp

@@ -36,10 +36,6 @@ class HunterBase : public MobileBase {
                             HunterMotionCmd::FaultClearFlag::NO_FAULT);
 
  private:
-  // serial port related variables
-  uint8_t tx_cmd_len_;
-  uint8_t tx_buffer_[HUNTER_CMD_BUF_LEN];
-
   // cmd/status update related variables
   std::mutex hunter_state_mutex_;
   std::mutex motion_cmd_mutex_;

include/wrp_sdk/platforms/scout/scout_base.hpp

@@ -1,9 +1,9 @@
-/* 
+/*
  * scout_base.hpp
- * 
+ *
  * Created on: Jun 04, 2019 01:22
- * Description: 
- * 
+ * Description:
+ *
  * Copyright (c) 2019 Ruixiang Du (rdu)
  */
 
@@ -16,95 +16,67 @@
 #include <mutex>
 #include <functional>
 
-#include "wrp_sdk/asyncio/async_can.hpp"
-#include "wrp_sdk/asyncio/async_serial.hpp"
+#include "wrp_sdk/platforms/common/mobile_base.hpp"
 
 #include "wrp_sdk/platforms/scout/scout_protocol.h"
 #include "wrp_sdk/platforms/scout/scout_can_parser.h"
 #include "wrp_sdk/platforms/scout/scout_uart_parser.h"
-
 #include "wrp_sdk/platforms/scout/scout_types.hpp"
 
-namespace westonrobot
-{
-class ScoutBase
-{
-public:
-    ScoutBase() = default;
-    ~ScoutBase();
+namespace westonrobot {
+class ScoutBase : public MobileBase {
+ public:
+  ScoutBase() : MobileBase(){};
+  ~ScoutBase() = default;
 
-    // do not allow copy
-    ScoutBase(const ScoutBase &scout) = delete;
-    ScoutBase &operator=(const ScoutBase &scout) = delete;
+ public:
+  // motion control
+  void SetMotionCommand(double linear_vel, double angular_vel,
+                        ScoutMotionCmd::FaultClearFlag fault_clr_flag =
+                            ScoutMotionCmd::FaultClearFlag::NO_FAULT);
 
-public:
-    // connect to roboot from CAN or serial
-    void Connect(std::string dev_name, int32_t baud_rate = 0);
+  // light control
+  void SetLightCommand(ScoutLightCmd cmd);
+  void DisableLightCmdControl();
 
-    // disconnect from roboot, only valid for serial port
-    void Disconnect();
+  // get robot state
+  ScoutState GetScoutState();
 
-    // cmd thread runs at 100Hz (10ms) by default
-    void SetCmdThreadPeriodMs(int32_t period_ms) { cmd_thread_period_ms_ = period_ms; };
+ private:
+  // serial port buffer
+  uint8_t tx_cmd_len_;
+  uint8_t tx_buffer_[SCOUT_CMD_BUF_LEN];
 
-    // motion control
-    void SetMotionCommand(double linear_vel, double angular_vel,
-                          ScoutMotionCmd::FaultClearFlag fault_clr_flag = ScoutMotionCmd::FaultClearFlag::NO_FAULT);
+  // cmd/status update related variables
+  std::thread cmd_thread_;
+  std::mutex scout_state_mutex_;
+  std::mutex motion_cmd_mutex_;
+  std::mutex light_cmd_mutex_;
 
-    // light control
-    void SetLightCommand(ScoutLightCmd cmd);
-    void DisableLightCmdControl();
+  ScoutState scout_state_;
+  ScoutMotionCmd current_motion_cmd_;
+  ScoutLightCmd current_light_cmd_;
 
-    // get robot state
-    ScoutState GetScoutState();
+  int32_t cmd_thread_period_ms_ = 10;
+  bool cmd_thread_started_ = false;
 
-private:
-    // hardware communication interface
-    std::shared_ptr<ASyncCAN> can_if_;
-    std::shared_ptr<ASyncSerial> serial_if_;
+  bool light_ctrl_enabled_ = false;
+  bool light_ctrl_requested_ = false;
 
-    // CAN priority higher than serial if both connected
-    bool can_connected_ = false;
-    bool serial_connected_ = false;
+  // internal functions
+  void SendRobotCmd() override;
+  void ParseCANFrame(can_frame *rx_frame);
+  void ParseUARTBuffer(uint8_t *buf, const size_t bufsize,
+                       size_t bytes_received);
 
-    // serial port related variables
-    uint8_t tx_cmd_len_;
-    uint8_t tx_buffer_[SCOUT_CMD_BUF_LEN];
+  void SendMotionCmd(uint8_t count);
+  void SendLightCmd(uint8_t count);
+  void NewStatusMsgReceivedCallback(const ScoutMessage &msg);
 
-    // cmd/status update related variables
-    std::thread cmd_thread_;
-    std::mutex scout_state_mutex_;
-    std::mutex motion_cmd_mutex_;
-    std::mutex light_cmd_mutex_;
-
-    ScoutState scout_state_;
-    ScoutMotionCmd current_motion_cmd_;
-    ScoutLightCmd current_light_cmd_;
-
-    int32_t cmd_thread_period_ms_ = 10;
-    bool cmd_thread_started_ = false;
-
-    bool light_ctrl_enabled_ = false;
-    bool light_ctrl_requested_ = 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 SendLightCmd(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 ScoutMessage &msg);
-
-public:
-    static void UpdateScoutState(const ScoutMessage &status_msg, ScoutState &state);
+ public:
+  static void UpdateScoutState(const ScoutMessage &status_msg,
+                               ScoutState &state);
 };
-} // namespace westonrobot
+}  // namespace westonrobot
 
 #endif /* SCOUT_BASE_HPP */