async_port: fixed return error in SetupPort()

demo/scout_demo/scout_mini_omni_demo.cpp

@@ -32,7 +32,7 @@ int main(int argc, char **argv) {
   std::unique_ptr<ScoutMiniOmniRobot> scout;
 
   ProtocolDectctor detector;
-  detector.Connect("can0");
+  detector.Connect(device_name);
   auto proto = detector.DetectProtocolVersion(5);
   if (proto == ProtocolVersion::AGX_V1) {
     std::cout << "Detected protocol: AGX_V1" << std::endl;

demo/scout_demo/scout_robot_demo.cpp

@@ -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;
   }
 

demo/utils_demo/demo_protocol_detector.cpp

@@ -16,16 +16,19 @@ using namespace westonrobot;
 
 int main(int argc, char **argv) {
   ProtocolDectctor detector;
-  detector.Connect("can0");
+  if (detector.Connect("can0")) {
+    auto proto = detector.DetectProtocolVersion(5);
 
-  auto proto = detector.DetectProtocolVersion(5);
-
-  if (proto == ProtocolVersion::AGX_V1) {
-    std::cout << "Detected protocol: AGX_V1" << std::endl;
-  } else if (proto == ProtocolVersion::AGX_V2) {
-    std::cout << "Detected protocol: AGX_V2" << std::endl;
+    if (proto == ProtocolVersion::AGX_V1) {
+      std::cout << "Detected protocol: AGX_V1" << std::endl;
+    } else if (proto == ProtocolVersion::AGX_V2) {
+      std::cout << "Detected protocol: AGX_V2" << std::endl;
+    } else {
+      std::cout << "Detected protocol: UNKONWN" << std::endl;
+    }
   } else {
-    std::cout << "Detected protocol: UNKONWN" << std::endl;
+    std::cout << "Failed to open port" << std::endl;
+    return -1;
   }
 
   return 0;

include/ugv_sdk/details/async_port/async_port_base.hpp

@@ -34,9 +34,10 @@ class AsyncPortBase {
       io_thread_ = std::thread([this]() { io_context_.run(); });
       return true;
     }
-    std::cerr << "Failed to setup port, please check if specified port exits "
-                 "or if you have proper permissions to access it"
-              << std::endl;
+    std::cerr
+        << "[ERROR] Failed to setup port, please check if specified port exits "
+           "or if you have proper permissions to access it"
+        << std::endl;
     return false;
   };
   virtual void StopService() {}

include/ugv_sdk/utilities/protocol_detector.hpp

@@ -18,8 +18,7 @@
 namespace westonrobot {
 class ProtocolDectctor {
  public:
-  void Connect(std::string can_name);
-  void Connect(std::string uart_name, uint32_t baudrate);
+  bool Connect(std::string can_name);
 
   ProtocolVersion DetectProtocolVersion(uint32_t timeout_sec);
 

src/async_port/async_can.cpp

@@ -35,7 +35,10 @@ bool AsyncCAN::SetupPort() {
     memcpy(ifr.ifr_name, port_.c_str(), iface_name_size);
 
     const int ioctl_result = ioctl(can_fd_, SIOCGIFINDEX, &ifr);
-    if (ioctl_result < 0) StopService();
+    if (ioctl_result < 0) {
+      StopService();
+      return false;
+    }
 
     struct sockaddr_can addr;
     memset(&addr, 0, sizeof(addr));
@@ -44,12 +47,15 @@ bool AsyncCAN::SetupPort() {
 
     const int bind_result =
         bind(can_fd_, (struct sockaddr *)&addr, sizeof(addr));
-    if (bind_result < 0) StopService();
+    if (bind_result < 0) {
+      StopService();
+      return false;
+    }
 
     port_opened_ = true;
     std::cout << "Start listening to port: " << port_ << std::endl;
   } catch (std::system_error &e) {
-    std::cout << e.what();
+    std::cout << e.what() << std::endl;
     return false;
   }
 

src/async_port/async_serial.cpp

@@ -55,9 +55,8 @@ bool AsyncSerial::SetupPort() {
     port_opened_ = true;
     std::cout << "Start listening to port: " << port_ << "@" << baud_rate_
               << std::endl;
-
   } catch (std::system_error &e) {
-    std::cout << e.what();
+    std::cout << e.what() << std::endl;
     return false;
   }
 

src/utilities/protocol_detector.cpp

@@ -11,13 +11,12 @@
 #include "ugv_sdk/utilities/stopwatch.hpp"
 
 namespace westonrobot {
-void ProtocolDectctor::Connect(std::string can_name) {
+bool ProtocolDectctor::Connect(std::string can_name) {
   can_ = std::make_shared<AsyncCAN>(can_name);
   can_->SetReceiveCallback(
       std::bind(&ProtocolDectctor::ParseCANFrame, this, std::placeholders::_1));
-  can_->StartListening();
+  return can_->StartListening();
 }
-void ProtocolDectctor::Connect(std::string uart_name, uint32_t baudrate) {}
 
 ProtocolVersion ProtocolDectctor::DetectProtocolVersion(uint32_t timeout_sec) {
   msg_v1_detected_ = false;