.. _program_listing_file_README.md:

Program Listing for File README.md
==================================

|exhale_lsh| :ref:`Return to documentation for file <file_README.md>` (``README.md``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: md

   # whill_driver
   
   ## About
   The "whill_driver" is a ROS2 package for WHILL Model CR2 controller.
   
   <img width=22% title="WHILL Model CR2" src="https://github.com/WHILL/Model_CR_Technical_Support/assets/129816934/387a8aac-3808-4727-895d-9857059ee342">
   <img width=24% title="Wheeled Robot Base" src="https://github.com/WHILL/Model_CR_Technical_Support/assets/129816934/6a63ed45-9e0c-40ca-b71c-8dff614af141">
   
   
   ## Package Structure
   
   ```mermaid
   classDiagram
   
   namespace whill_driver {
       class WhillNode{
           -publiser
           -subscriber
           -server
       }
       class Whill{
           +SendCommand()
           +ReceiveDataset()
       }
       class Parser{
           +Parse()
           +Checksum()
       }
       class SerialPort{
           +Open()
           +Close()
           +Send()
           +Receive()
       }
   }
   
   namespace rclcpp {
       class Node{
       }
       class Publisher{
       }
       class Subscription{
       }
       class Service{
       }
   }
   
   namespace whill_msgs {
       class WhillModelCMsg{        
       }
       class SpeedProfileMsg{        
       }
       class SetPowerSrv{
       }
       class SetSpeedProfileSrv{
       }
       class SetBatterySavingSrv{
       }
   }
   
   namespace c {
       class unistd{
           +open()
           +close()
           +write()
           +read()
       }
   }
   
   WhillNode --|> Node
   WhillNode -- Publisher
   WhillNode -- Subscription
   WhillNode -- Service
   WhillNode "1" *-- "1" Whill
   Whill "1" *-- "1" Parser
   Whill "1" *-- "1" SerialPort
   SerialPort -- unistd
   Whill -- WhillModelCMsg
   Whill -- SpeedProfileMsg
   Whill -- SetPowerSrv
   Whill -- SetSpeedProfileSrv
   Whill -- SetBatterySavingSrv
   ```
   
   
   | Class name | Explanation |
   |:---|:---|
   | WhillNode | This class provides ROS2 Node, and has responsible for RCLCPP abstraction. |
   | Whill | This class has WHILL Model CR2 domain. So, this class can understand control commands and WHILL state datasets. |
   | Parser | This class has the ability to parse packets from WHILL. |
   | SerialPort | This class provides serial port driver, and has responsible for hardware abstraction. |
   
   **Note:** [whill_msgs](https://github.com/WHILL/ros2_whill_interfaces) is not provided by this repository.
   
   ## License
   
   Copyright (c) 2024 WHILL, Inc.
   
   Released under the [MIT license](https://opensource.org/licenses/mit-license.php)