Simulation Interface Draft Stubs

projects/can_transceiver/inc/can_frame_parser.h

@@ -16,7 +16,7 @@ static std::array<std::string, CanId::CAN_ID_MAX> CAN_DEVICE_NAMES = {"Placehold
 
 /**
  * Custom exception for when an attempt is made to construct a CAN object with a mismatched ID
- * 
+ *
  */
 class CanIdMismatchException : public std::runtime_error
 {
@@ -33,7 +33,7 @@ class CanIdMismatchException : public std::runtime_error
 
 /**
  * Placeholder CAN device
- * 
+ *
  */
 struct Placeholder0
 {
@@ -58,21 +58,21 @@ struct Placeholder0
 
     /**
      * @brief Construct the object from a CAN frame
-     * 
+     *
      * @param frame CAN frame
      */
     explicit Placeholder0(const CanFrame & frame);
 
     /**
      * @brief Construct the object from a ROS msg
-     * 
+     *
      */
     Placeholder0(/* Placeholder0 ROS msg */);
 };
 
 /**
  * Placeholder CAN device
- * 
+ *
  */
 struct Placeholder1
 {
@@ -93,14 +93,14 @@ struct Placeholder1
 
     /**
      * @brief Construct the object from a CAN frame
-     * 
+     *
      * @param frame CAN frame
      */
     explicit Placeholder1(const CanFrame & frame);
 
     /**
      * @brief Construct the object from a ROS msg
-     * 
+     *
      */
     Placeholder1(/* Placeholder1 ROS msg */);
 
@@ -115,7 +115,7 @@ struct Placeholder1
 
 /**
  * Rudder Command Frame
- * 
+ *
  */
 struct RudderCmd
 {
@@ -140,7 +140,7 @@ struct RudderCmd
 
     /**
      * @brief Convert this object into a standard Linux CAN frame and return it
-     * 
+     *
      * @return Rudder command as a standard Linux CAN frame object
      */
     CanFrame toLinuxCan();

projects/can_transceiver/inc/can_transceiver.h

@@ -10,27 +10,27 @@
 /**
  * Abstract CAN Transceiver Class
  * Handles transmission and reception of data to and from the hardware/simulator
- * 
+ *
  */
 class CanTransceiver
 {
 public:
     /**
     * @brief Destroy the Can Transceiver object
-    * 
+    *
     */
     virtual ~CanTransceiver() = 0;
 
     /**
      * @brief Call when a new command (ex. rudder command) needs to be executed
      *        Passes the command down to the hardware/simulator
-     * 
+     *
      */
     void onNewCmd(CanId id /*, other data fields... */);
 
     /**
      * @brief Retrieve the most recent set of sensors data
-     * 
+     *
      * @return Data in some format - string is just a placeholder; DO NOT USE STRING IN ACTUAL IMPLEMENTATION
      */
     std::string getRecentSensors();
@@ -40,42 +40,42 @@ class CanTransceiver
     void * sensor_buf_;
     /**
      * @brief Retrieve latest incoming data from hardware/simulator and process it
-     * 
+     *
      */
     virtual void receive() = 0;
 
     /**
      * @brief Send a command to the hardware/simulator
-     * 
+     *
      * @param frame Command frame to send
      */
     virtual void send(const CanFrame & frame) const = 0;
 
     /**
      * @brief Call on receiving a new CAN data frame from hardware/simulator
-     * 
+     *
      * @param frame received CAN data frame
      */
     void onNewCanData(const CanFrame & frame);
 };
 
 /**
  * Implementation of CAN Transceiver that interfaces with CAN hardware
- * 
+ *
  */
 class CanbusIntf : public CanTransceiver
 {
 public:
     /**
     * @brief Construct a new Canbus Intf object and start listening for incoming data on a new thread
-    * 
-    * @param can_inst 
+    *
+    * @param can_inst
     */
     explicit CanbusIntf(const std::string & can_inst);
 
     /**
      * @brief Destroy the Canbus Intf object
-     * 
+     *
      */
     ~CanbusIntf();
 
@@ -88,23 +88,23 @@ class CanbusIntf : public CanTransceiver
 
     /**
      * @brief Retrieve latest incoming CAN frame from hardware and process it
-     * 
+     *
      */
     void receive();
 
     /**
      * @brief Send a command to hardware
-     * 
+     *
      * @param frame command frame to send
      */
     void send(const CanFrame & frame) const;
 };
 
 /**
  * Implementation of CAN Transceiver that interfaces with the simulator
- * 
+ *
  */
-class CanSimIntf : public CanTransceiver, public rclcpp::Node
+class CanSimTransceiver : public CanTransceiver
 {
     void receive();
 };

projects/can_transceiver/src/can_frame_parser.cpp

@@ -6,7 +6,7 @@ namespace
 {
 /**
  * @brief Verify that a given CAN frame to construct a device has a valid ID assigned to it
- * 
+ *
  * @param actual_can_id   ID of the given CAN frame
  * @param expected_can_id ID of the device object that is attempting to be constructed
  */
@@ -20,7 +20,7 @@ void checkId(const canid_t & actual_can_id, const CanId & expected_can_id)
 /**
  * @brief Default CAN device object constructor for when construction is a 1:1 mapping between raw data and data fields
  *        Copies data from source CAN frame to a given buffer
- * 
+ *
  * @param frame           Source CAN frame
  * @param expected_can_id Device ID of CAN Frame that is attempting to be constructed
  * @param buf             Output buffer for data to be copied into

projects/can_transceiver/src/can_transceiver.cpp

@@ -20,7 +20,7 @@ namespace
 
 /**
  * @brief Format a CAN frame into a string for debugging and logging
- * 
+ *
  * @param frame CAN frame to format
  * @return String representation of frame
  */
@@ -114,5 +114,3 @@ void CanbusIntf::send(const CanFrame & frame) const
         std::cerr << fmtCanFrameDbgStr(frame) << std::endl;
     }
 }
-
-void CanSimIntf::receive() {}