added get protocol version api

include/ugv_sdk/details/interface/parser_interface.hpp

@@ -26,11 +26,17 @@ struct can_frame {
 
 #include "ugv_sdk/details/interface/agilex_message.h"
 
-struct ParserInterface {
+enum class ProtocolVersion { AGX_V1, AGX_V2 };
+
+template <ProtocolVersion VersionNumber = ProtocolVersion::AGX_V2>
+class ParserInterface {
+ public:
+  virtual ~ParserInterface() = default;
+
   // CAN support
   virtual bool DecodeMessage(const struct can_frame *rx_frame,
                              AgxMessage *msg) = 0;
-  virtual void EncodeMessage(const AgxMessage *msg,
+  virtual bool EncodeMessage(const AgxMessage *msg,
                              struct can_frame *tx_frame) = 0;
   virtual uint8_t CalculateChecksum(uint16_t id, uint8_t *data,
                                     uint8_t dlc) = 0;
@@ -47,6 +53,8 @@ struct ParserInterface {
     // throw exception
     return 0;
   };
+
+  ProtocolVersion GetProtocolVersion() { return VersionNumber; }
 };
 
 #endif /* PASER_INTERFACE_HPP */

include/ugv_sdk/details/interface/robot_interface.hpp

@@ -13,10 +13,9 @@
 #include <string>
 
 #include "ugv_sdk/details/interface/agilex_message.h"
+#include "ugv_sdk/details/interface/parser_interface.hpp"
 
 namespace westonrobot {
-enum class ProtocolType { AGX_V1, AGX_V2 };
-
 class RobotInterface {
  public:
   ~RobotInterface() = default;
@@ -33,12 +32,14 @@ class RobotInterface {
   };
   virtual void ResetRobotState() = 0;
 
+  virtual ProtocolVersion GetProtocolVersion() = 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
+  // 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){

include/ugv_sdk/details/interface/scout_interface.hpp

@@ -29,7 +29,7 @@ struct ScoutState {
 };
 
 struct ScoutInterface {
-  ~ScoutInterface() = default;
+  virtual ~ScoutInterface() = default;
 
   virtual void SetMotionCommand(double linear_vel, double angular_vel) = 0;
   virtual void SetLightCommand(LightMode f_mode, uint8_t f_value,