88#include " Common/Cpp/Exceptions.h"
99#include " Common/Cpp/PanicDump.h"
1010#include " Common/Cpp/Concurrency/SpinPause.h"
11- #include " Common/Microcontroller/MessageProtocol .h"
12- #include " Common/Microcontroller/DeviceRoutines .h"
11+ #include " Common/SerialPABotBase/SerialPABotBase_Protocol .h"
12+ #include " Controllers/SerialPABotBase/SerialPABotBase_Routines_Protocol .h"
1313#include " PABotBase.h"
1414
1515// #include <iostream>
@@ -82,7 +82,7 @@ void PABotBase::connect(){
8282
8383 pabb_MsgAckRequest response;
8484 issue_request_and_wait (
85- Microcontroller ::DeviceRequest_seqnum_reset (), nullptr
85+ SerialPABotBase ::DeviceRequest_seqnum_reset (), nullptr
8686 ).convert <PABB_MSG_ACK_REQUEST>(logger (), response);
8787}
8888void PABotBase::stop (){
@@ -184,7 +184,7 @@ bool PABotBase::try_stop_all_commands(){
184184
185185 auto scope_check = m_sanitizer.check_scope ();
186186
187- uint64_t seqnum = try_issue_request (nullptr , Microcontroller ::DeviceRequest_request_stop (), true );
187+ uint64_t seqnum = try_issue_request (nullptr , SerialPABotBase ::DeviceRequest_request_stop (), true );
188188 if (seqnum != 0 ){
189189 clear_all_active_commands (seqnum);
190190 return true ;
@@ -211,13 +211,13 @@ void PABotBase::stop_all_commands(){
211211
212212 auto scope_check = m_sanitizer.check_scope ();
213213
214- uint64_t seqnum = issue_request (nullptr , Microcontroller ::DeviceRequest_request_stop (), true );
214+ uint64_t seqnum = issue_request (nullptr , SerialPABotBase ::DeviceRequest_request_stop (), true );
215215 clear_all_active_commands (seqnum);
216216}
217217bool PABotBase::try_next_command_interrupt (){
218218 auto scope_check = m_sanitizer.check_scope ();
219219
220- uint64_t seqnum = try_issue_request (nullptr , Microcontroller ::DeviceRequest_next_command_interrupt (), true );
220+ uint64_t seqnum = try_issue_request (nullptr , SerialPABotBase ::DeviceRequest_next_command_interrupt (), true );
221221 if (seqnum != 0 ){
222222 clear_all_active_commands (seqnum);
223223 return true ;
@@ -228,7 +228,7 @@ bool PABotBase::try_next_command_interrupt(){
228228void PABotBase::next_command_interrupt (){
229229 auto scope_check = m_sanitizer.check_scope ();
230230
231- uint64_t seqnum = issue_request (nullptr , Microcontroller ::DeviceRequest_next_command_interrupt (), true );
231+ uint64_t seqnum = issue_request (nullptr , SerialPABotBase ::DeviceRequest_next_command_interrupt (), true );
232232 clear_all_active_commands (seqnum);
233233}
234234void PABotBase::clear_all_active_commands (uint64_t seqnum){
@@ -259,7 +259,7 @@ void PABotBase::clear_all_active_commands(uint64_t seqnum){
259259
260260 if (iter->second .state == AckState::NOT_ACKED){
261261 // Convert the command into a no-op request.
262- Microcontroller ::DeviceRequest_program_id request;
262+ SerialPABotBase ::DeviceRequest_program_id request;
263263 BotBaseMessage message = request.message ();
264264 seqnum_t seqnum_s = (seqnum_t )iter->first ;
265265 memcpy (&message.body [0 ], &seqnum_s, sizeof (seqnum_t ));
0 commit comments