From c053d732225acb5f34908e5023c06601191a2697 Mon Sep 17 00:00:00 2001
From: Ruixiang Du <ruixiang.du@westonrobot.com>
Date: Mon, 19 Jul 2021 09:52:26 +0800
Subject: [PATCH] added exception for invalid function calls from interface

---
 .../interface/robot_common_interface.hpp       | 18 +++++++++++++++---
 include/ugv_sdk/mobile_robot/scout_robot.hpp   |  1 -
 2 files changed, 15 insertions(+), 4 deletions(-)

diff --git a/include/ugv_sdk/details/interface/robot_common_interface.hpp b/include/ugv_sdk/details/interface/robot_common_interface.hpp
index c16d1bf..df382fb 100644
--- a/include/ugv_sdk/details/interface/robot_common_interface.hpp
+++ b/include/ugv_sdk/details/interface/robot_common_interface.hpp
@@ -65,22 +65,34 @@ class RobotCommonInterface {
   // functions to be implemented by class AgilexBase
   virtual void SetMotionMode(uint8_t mode){};
   virtual CoreStateMsgGroup GetRobotCoreStateMsgGroup() {
+    throw std::runtime_error(
+        "Only a derived version of this function with actual implementation "
+        "is supposed to be used.");
     return CoreStateMsgGroup{};
   };
   virtual ActuatorStateMsgGroup GetActuatorStateMsgGroup() {
+    throw std::runtime_error(
+        "Only a derived version of this function with actual implementation "
+        "is supposed to be used.");
     return ActuatorStateMsgGroup{};
   };
 
   // any specific robot will use a specialized version of the two functions
   virtual void SendMotionCommand(double linear_vel, double angular_vel,
                                  double lateral_velocity,
-                                 double steering_angle){
-      // use derived version
+                                 double steering_angle) {
+    throw std::runtime_error(
+        "Only a derived version of this function with actual implementation "
+        "is supposed to be used.");
   };
 
   virtual void SendLightCommand(LightMode front_mode,
                                 uint8_t front_custom_value, LightMode rear_mode,
-                                uint8_t rear_custom_value){};
+                                uint8_t rear_custom_value) {
+    throw std::runtime_error(
+        "Only a derived version of this function with actual implementation "
+        "is supposed to be used.");
+  };
 };
 }  // namespace westonrobot
 
diff --git a/include/ugv_sdk/mobile_robot/scout_robot.hpp b/include/ugv_sdk/mobile_robot/scout_robot.hpp
index 56a5569..54a2046 100644
--- a/include/ugv_sdk/mobile_robot/scout_robot.hpp
+++ b/include/ugv_sdk/mobile_robot/scout_robot.hpp
@@ -56,7 +56,6 @@ class ScoutMiniOmniRobot : public ScoutRobot, public ScoutOmniInterface {
 
  private:
   using ScoutRobot::SetMotionCommand;
-  //   void SetMotionCommand(double linear_vel, double angular_vel) = delete;
 };
 }  // namespace westonrobot