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renamed GetProtocolVersion() to GetParserProtocolVersion()

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This commit is contained in:
Ruixiang Du
2021-07-15 13:34:22 +08:00
parent 541ec08514
commit e96b078c05
12 changed files with 22 additions and 21 deletions
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4
include/ugv_sdk/details/interface/parser_interface.hpp
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@@ -26,7 +26,7 @@ struct can_frame {
#include "ugv_sdk/details/interface/agilex_message.h"
enum class ProtocolVersion { AGX_V1, AGX_V2 };
enum class ProtocolVersion { UNKONWN, AGX_V1, AGX_V2 };
template <ProtocolVersion VersionNumber = ProtocolVersion::AGX_V2>
class ParserInterface {
@@ -54,7 +54,7 @@ class ParserInterface {
return 0;
};
ProtocolVersion GetProtocolVersion() { return VersionNumber; }
ProtocolVersion GetParserProtocolVersion() { return VersionNumber; }
};
#endif /* PASER_INTERFACE_HPP */

2
include/ugv_sdk/details/interface/robot_common_interface.hpp
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@@ -50,7 +50,7 @@ class RobotCommonInterface {
// do nothing if no light on robot
}
virtual ProtocolVersion GetProtocolVersion() = 0;
virtual ProtocolVersion GetParserProtocolVersion() = 0;
protected:
/****** functions not available/valid to all robots ******/

9
include/ugv_sdk/details/robot_base/agilex_base.hpp
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@@ -60,7 +60,7 @@ class AgilexBase : public RobotCommonInterface {
if (can_connected_) {
// motion control message
AgxMessage msg;
if (parser_.GetProtocolVersion() == ProtocolVersion::AGX_V1) {
if (parser_.GetParserProtocolVersion() == ProtocolVersion::AGX_V1) {
msg.type = AgxMsgMotionCommandV1;
msg.body.v1_motion_command_msg.control_mode = CONTROL_MODE_CAN;
msg.body.v1_motion_command_msg.clear_all_error = false;
@@ -70,7 +70,8 @@ class AgilexBase : public RobotCommonInterface {
std::abs(angular_vel) > std::abs(steering_angle) ? angular_vel
: steering_angle;
msg.body.v1_motion_command_msg.lateral = lateral_velocity;
} else if (parser_.GetProtocolVersion() == ProtocolVersion::AGX_V2) {
} else if (parser_.GetParserProtocolVersion() ==
ProtocolVersion::AGX_V2) {
msg.type = AgxMsgMotionCommand;
msg.body.motion_command_msg.linear_velocity = linear_vel;
msg.body.motion_command_msg.angular_velocity = angular_vel;
@@ -133,8 +134,8 @@ class AgilexBase : public RobotCommonInterface {
void ResetRobotState() override {}
ProtocolVersion GetProtocolVersion() override {
return parser_.GetProtocolVersion();
ProtocolVersion GetParserProtocolVersion() override {
return parser_.GetParserProtocolVersion();
}
CoreStateMsgGroup GetRobotCoreStateMsgGroup() override {

2
include/ugv_sdk/mobile_robot/bunker_robot.hpp
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@@ -29,7 +29,7 @@ class BunkerRobot : public RobotCommonInterface, public BunkerInterface {
void ResetRobotState() override;
ProtocolVersion GetProtocolVersion() override;
ProtocolVersion GetParserProtocolVersion() override;
// get robot state
BunkerCoreState GetRobotState() override;

2
include/ugv_sdk/mobile_robot/hunter_robot.hpp
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@@ -29,7 +29,7 @@ class HunterRobot : public RobotCommonInterface, public HunterInterface {
void ResetRobotState() override;
ProtocolVersion GetProtocolVersion() override;
ProtocolVersion GetParserProtocolVersion() override;
// get robot state
HunterCoreState GetRobotState() override;

2
include/ugv_sdk/mobile_robot/scout_robot.hpp
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@@ -34,7 +34,7 @@ class ScoutRobot : public RobotCommonInterface, public ScoutInterface {
void ResetRobotState() override;
ProtocolVersion GetProtocolVersion() override;
ProtocolVersion GetParserProtocolVersion() override;
// get robot state
ScoutCoreState GetRobotState() override;