Compile littlebot_base package with protobuf

littlebot_base/CMakeLists.txt

@@ -24,34 +24,34 @@ find_package(Protobuf REQUIRED)
 
 include_directories(include)
 
-# Print some protobuf info (optional)
+# Print some protobuf info
 message(STATUS "Using Protocol Buffers: ${Protobuf_VERSION}")
 message(STATUS "Protobuf include directory: ${Protobuf_INCLUDE_DIRS}")
 message(STATUS "Protobuf libraries: ${Protobuf_LIBRARIES}")
 
 # Add your proto file
-# set(PROTO_FILES
-#     src/littlebot_protocol.proto
-# )
+set(PROTO_FILES
+    src/littlebot_protocol.proto
+)
 
 # Generate sources and headers from .proto
-# protobuf_generate_cpp(PROTO_SRCS PROTO_HDRS ${PROTO_FILES})
+protobuf_generate_cpp(PROTO_SRCS PROTO_HDRS ${PROTO_FILES})
 
 # Add include directories
-# include_directories(
-#   ${Protobuf_INCLUDE_DIRS}
-#   ${CMAKE_CURRENT_BINARY_DIR}  # This is where generated files will be
-# )
+include_directories(
+  ${Protobuf_INCLUDE_DIRS}
+  ${CMAKE_CURRENT_BINARY_DIR}  # This is where generated files will be
+)
 
 # create ament index resource which references the libraries in the binary dir
 set(node_plugins "")
 
 # Hardware interface
 add_library(littlebot_hardware_component SHARED
   src/littlebot_hardware_component.cpp
-  src/littlebot_hardware_communication.cpp
-  # ${PROTO_SRCS}
-  # ${PROTO_HDRS}
+  src/littlebot_serial_communication.cpp
+  ${PROTO_SRCS}
+  ${PROTO_HDRS}
   )
 
 ament_target_dependencies(littlebot_hardware_component

littlebot_base/include/littlebot_base/littlebot_communication_interface.hpp

@@ -8,13 +8,13 @@
 namespace littlebot_base
 {
 
-class HardwareCommunication{
+class LittlebotCommunicationInterface{
 public:
   /**
-   * @brief Deconstructor for the HardwareCommunication class
+   * @brief Deconstructor for the LittlebotCommunicationInterface class
    *
    */
-  virtual ~HardwareCommunication() = default;
+  virtual ~LittlebotCommunicationInterface() = default;
 
   /**
    * @brief Set the command velocities
@@ -33,9 +33,9 @@ class HardwareCommunication{
 
 protected:
   /**
-   * @brief Constructor for the LittlebotHardwareCommunication class
+   * @brief Constructor for the LittlebotLittlebotCommunicationInterface class
    */
-  HardwareCommunication() = default;
+  LittlebotCommunicationInterface() = default;
 
 private:
   /**

littlebot_base/include/littlebot_base/littlebot_serial_communication.hpp

@@ -7,23 +7,23 @@
 
 #include <libserial/serial.hpp>
 
-#include "littlebot_base/hardware_communication.hpp"
+#include "littlebot_base/littlebot_communication_interface.hpp"
 
 namespace littlebot_base
 {
 
-class LittlebotHardwareCommunication : public HardwareCommunication
+class LittlebotSerialCommunication : public LittlebotCommunicationInterface
 {
 public:
   /**
-   * @brief Constructor for the LittlebotLittlebotHardwareCommunication class
+   * @brief Constructor for the LittlebotSerialCommunication class
    */
-  LittlebotHardwareCommunication(const std::string serial_port);
+  LittlebotSerialCommunication(const std::string serial_port);
 
   /**
-   * @brief Deconstructor for the LittlebotHardwareCommunication class
+   * @brief Deconstructor for the LittlebotSerialCommunication class
    */
-  ~LittlebotHardwareCommunication();
+  ~LittlebotSerialCommunication();
 
   /**
    * @brief Set the command velocities

littlebot_base/src/littlebot_serial_communication.cpp

@@ -3,49 +3,49 @@
 #include <string>
 #include <vector>
 
-#include "littlebot_base/littlebot_hardware_comunication.hpp"
+#include "littlebot_base/littlebot_serial_communication.hpp"
 
 namespace littlebot_base
 {
-  LittlebotHardwareCommunication::LittlebotHardwareCommunication(const std::string serial_port)
+  LittlebotSerialCommunication::LittlebotSerialCommunication(const std::string serial_port)
   {
-    std::cout << "LittlebotHardwareCommunication constructor" << serial_port << std::endl;
+    std::cout << "LittlebotSerialCommunication constructor" << serial_port << std::endl;
 
     serial_ = std::make_shared<serial::Serial>();
     serial_->open(serial_port);
   }
 
-  LittlebotHardwareCommunication::~LittlebotHardwareCommunication()
+  LittlebotSerialCommunication::~LittlebotSerialCommunication()
   {
-    std::cout << "LittlebotHardwareCommunication deconstructor" << std::endl;
+    std::cout << "LittlebotSerialCommunication deconstructor" << std::endl;
   }
 
-  void LittlebotHardwareCommunication::setCommandVelocities([[maybe_unused]] std::vector<float> velocities)
+  void LittlebotSerialCommunication::setCommandVelocities([[maybe_unused]] std::vector<float> velocities)
   {
-    std::cout << "LittlebotHardwareCommunication setCommandVelocities" << std::endl;
+    std::cout << "LittlebotSerialCommunication setCommandVelocities" << std::endl;
   }
 
-  std::vector<float> LittlebotHardwareCommunication::getStatusVelocities() const
+  std::vector<float> LittlebotSerialCommunication::getStatusVelocities() const
   {
-    std::cout << "LittlebotHardwareCommunication getStatusVelocities" << std::endl;
+    std::cout << "LittlebotSerialCommunication getStatusVelocities" << std::endl;
     return std::vector<float>{1.2, 3.4};
   }
 
-  std::vector<float> LittlebotHardwareCommunication::getStatusPositionsStatus() const
+  std::vector<float> LittlebotSerialCommunication::getStatusPositionsStatus() const
   {
-    std::cout << "LittlebotHardwareCommunication getStatusPositionsStatus" << std::endl;
+    std::cout << "LittlebotSerialCommunication getStatusPositionsStatus" << std::endl;
     return std::vector<float>{1.2, 3.4};
   }
 
-  bool LittlebotHardwareCommunication::receive()
+  bool LittlebotSerialCommunication::receive()
   {
-    std::cout << "LittlebotHardwareCommunication receive" << std::endl;
+    std::cout << "LittlebotSerialCommunication receive" << std::endl;
     return true;
   }
 
-  bool LittlebotHardwareCommunication::send()
+  bool LittlebotSerialCommunication::send()
   {
-    std::cout << "LittlebotHardwareCommunication send" << std::endl;
+    std::cout << "LittlebotSerialCommunication send" << std::endl;
     return true;
   }