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updated to use updated asyncio implementation

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This commit is contained in:
Ruixiang Du
2020-09-14 15:15:39 +08:00
parent 1cb41c4eb4
commit f01ab6415d
4876 changed files with 619410 additions and 996 deletions
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17
src/platforms/mobile_base.cpp
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@@ -34,26 +34,27 @@ void MobileBase::Connect(std::string dev_name, int32_t baud_rate) {
}
void MobileBase::Disconnect() {
if (serial_connected_ && serial_if_->is_open()) {
serial_if_->close();
if (serial_connected_ && serial_if_->IsOpened()) {
serial_if_->StopService();
}
}
void MobileBase::ConfigureCAN(const std::string &can_if_name) {
can_if_ = std::make_shared<ASyncCAN>(can_if_name);
can_if_->set_receive_callback(
can_if_ = std::make_shared<AsyncCAN>(can_if_name);
can_if_->SetReceiveCallback(
std::bind(&MobileBase::ParseCANFrame, this, std::placeholders::_1));
serial_if_->StartListening();
can_connected_ = true;
}
void MobileBase::ConfigureSerial(const std::string uart_name,
int32_t baud_rate) {
serial_if_ = std::make_shared<ASyncSerial>(uart_name, baud_rate);
serial_if_->open();
if (serial_if_->is_open()) serial_connected_ = true;
serial_if_->set_receive_callback(
serial_if_ = std::make_shared<AsyncSerial>(uart_name, baud_rate);
if (serial_if_->IsOpened()) serial_connected_ = true;
serial_if_->SetReceiveCallback(
std::bind(&MobileBase::ParseUARTBuffer, this, std::placeholders::_1,
std::placeholders::_2, std::placeholders::_3));
serial_if_->StartListening();
}
void MobileBase::StartCmdThread() {