saved work

include/ugv_sdk/interface/robot_interface.hpp

@@ -15,25 +15,41 @@
 #include "ugv_sdk/interface/agilex_message.h"
 
 namespace westonrobot {
-struct RobotInterface {
+enum class ProtocolType { AGX_V1, AGX_V2 };
+
+class RobotInterface {
+ public:
+  ~RobotInterface() = default;
+
   // functions to be implemented by class AgilexBase
   virtual void EnableCommandedMode() = 0;
-
-  virtual void SetMotionMode(uint8_t mode){};
-
-  virtual void SendMotionCommand(double linear_vel, double angular_vel,
-                                 double lateral_velocity,
-                                 double steering_angle) = 0;
-  virtual void SendLightCommand(LightMode front_mode,
-                                uint8_t front_custom_value, LightMode rear_mode,
-                                uint8_t rear_custom_value) = 0;
   virtual void DisableLightControl() = 0;
 
   // functions to be implemented by each robot class
   virtual void Connect(std::string can_name) = 0;
-  virtual void Connect(std::string uart_name, uint32_t baudrate) = 0;
-
+  // functions to be implemented by each robot class
+  virtual void Connect(std::string uart_name, uint32_t baudrate){
+      // use derived version
+  };
   virtual void ResetRobotState() = 0;
+
+ protected:
+  /****** functions not available/valid to all robots ******/
+  // functions to be implemented by class AgilexBase
+  virtual void SetMotionMode(uint8_t mode){};
+
+    // 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
+  };
+
+  virtual void SendLightCommand(LightMode front_mode,
+                                uint8_t front_custom_value, LightMode rear_mode,
+                                uint8_t rear_custom_value){
+      // use derived version
+  };
 };
 }  // namespace westonrobot
 

include/ugv_sdk/interface/scout_interface.hpp

@@ -31,6 +31,8 @@ struct ScoutState {
 };
 
 struct ScoutInterface {
+  ~ScoutInterface() = default;
+
   virtual void SetMotionCommand(double linear_vel, double angular_vel) = 0;
   virtual void SetLightCommand(LightMode f_mode, uint8_t f_value,
                                LightMode r_mode, uint8_t r_value) = 0;

include/ugv_sdk/mobile_base/agilex_base.hpp

@@ -29,8 +29,6 @@
 #include "ugv_sdk/protocol_v2/agilex_msg_parser.h"
 
 namespace westonrobot {
-enum class AgilexProtocol { V1, V2 };
-
 template <typename ParserType>
 class AgilexBase : public RobotInterface {
  public:

include/ugv_sdk/mobile_base/scout_robot.hpp

@@ -12,15 +12,32 @@
 
 #include <memory>
 
-#include "ugv_sdk/mobile_base/common.hpp"
+#include "ugv_sdk/interface/robot_interface.hpp"
+#include "ugv_sdk/interface/scout_interface.hpp"
 
 namespace westonrobot {
-class ScoutRobot {
+class ScoutRobot : public RobotInterface, public ScoutInterface {
  public:
-  ScoutRobot(AgilexProtocol protocol);
+  ScoutRobot(ProtocolType protocol = ProtocolType::AGX_V2);
+  ~ScoutRobot();
+
+  void Connect(std::string can_name) override;
+  void Connect(std::string uart_name, uint32_t baudrate) override;
+
+  void EnableCommandedMode();
+
+  void SetMotionCommand(double linear_vel, double angular_vel) override;
+  void SetLightCommand(LightMode f_mode, uint8_t f_value, LightMode r_mode,
+                       uint8_t r_value) override;
+  void DisableLightControl() override;
+
+  void ResetRobotState() override;
+
+  // get robot state
+  ScoutState GetRobotState() override;
 
  private:
-  std::unique_ptr<ScoutInterface> robot_;
+  RobotInterface* robot_;
 };
 }  // namespace westonrobot
 

include/ugv_sdk/protocol_v2/scout_base_v2.hpp

@@ -21,10 +21,10 @@
 #include "ugv_sdk/protocol_v2/protocol_v2_parser.hpp"
 
 namespace westonrobot {
-class ScoutBase : public AgilexBase<ProtocolV2Parser>, public ScoutInterface {
+class ScoutBaseV2 : public AgilexBase<ProtocolV2Parser>, public ScoutInterface {
  public:
-  ScoutBase() : AgilexBase(){};
-  ~ScoutBase() = default;
+  ScoutBaseV2() : AgilexBase(){};
+  ~ScoutBaseV2() = default;
 
   // set up connection
   void Connect(std::string can_name) override;