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async_port: fixed return error in SetupPort()

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This commit is contained in:
Ruixiang Du
2021-09-02 16:51:31 +08:00
parent a63b25cc1f
commit af27fa2772
8 changed files with 43 additions and 33 deletions
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25
demo/scout_demo/scout_robot_demo.cpp
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@@ -50,18 +50,21 @@ int main(int argc, char **argv) {
std::unique_ptr<ScoutRobot> scout;
ProtocolDectctor detector;
detector.Connect("can0");
auto proto = detector.DetectProtocolVersion(5);
if (proto == ProtocolVersion::AGX_V1) {
std::cout << "Detected protocol: AGX_V1" << std::endl;
scout = std::unique_ptr<ScoutRobot>(
new ScoutRobot(ProtocolVersion::AGX_V1, is_scout_mini));
} else if (proto == ProtocolVersion::AGX_V2) {
std::cout << "Detected protocol: AGX_V2" << std::endl;
scout = std::unique_ptr<ScoutRobot>(
new ScoutRobot(ProtocolVersion::AGX_V2, is_scout_mini));
if (detector.Connect(device_name)) {
auto proto = detector.DetectProtocolVersion(5);
if (proto == ProtocolVersion::AGX_V1) {
std::cout << "Detected protocol: AGX_V1" << std::endl;
scout = std::unique_ptr<ScoutRobot>(
new ScoutRobot(ProtocolVersion::AGX_V1, is_scout_mini));
} else if (proto == ProtocolVersion::AGX_V2) {
std::cout << "Detected protocol: AGX_V2" << std::endl;
scout = std::unique_ptr<ScoutRobot>(
new ScoutRobot(ProtocolVersion::AGX_V2, is_scout_mini));
} else {
std::cout << "Detected protocol: UNKONWN" << std::endl;
return -1;
}
} else {
std::cout << "Detected protocol: UNKONWN" << std::endl;
return -1;
}