Feat whell class

[NestorDP]

Pull Request

Description

Refactoring driver architecture

Related Issue(s)

Checklist

• I have tested this code thoroughly.
• My code follows the project's coding standards.
• I have updated the documentation accordingly.
• I have added tests to cover my changes.
• All new and existing tests passed.

[Copilot]

Pull request overview

This PR refactors the driver architecture to introduce a Wheel class and improve the separation between real-time safe and non-real-time code through RT buffers. The changes involve significant API changes to the serial port interface, driver implementation, and test infrastructure.

Changes:

• Introduced Wheel class to encapsulate wheel-related data and operations
• Added RT buffer abstraction (IRTBuffer) for thread-safe communication between RT and non-RT contexts
• Refactored SerialPort to use streaming reads and frame extraction instead of packet-based approach
• Updated LittlebotDriver constructor signature to accept RT buffers and use new codec architecture
• Modernized test infrastructure with proper mock classes

Reviewed changes

Copilot reviewed 19 out of 25 changed files in this pull request and generated 10 comments.

Show a summary per file

File	Description
littlebot_base/include/littlebot_base/wheel.hpp	New class for wheel data encapsulation
littlebot_base/include/littlebot_base/types.hpp	New types for RT data structures and error handling
littlebot_base/include/littlebot_base/codec.hpp	New codec interface for protobuf serialization
littlebot_base/src/codec.cpp	Implementation of encode/decode functions
littlebot_base/include/littlebot_base/i_rt_buffer.hpp	New RT buffer interface
littlebot_base/include/littlebot_base/ros_rt_buffer.hpp	ROS2 implementation of RT buffer using realtime_tools
littlebot_base/include/littlebot_base/serial_port.hpp	Updated serial port interface with streaming approach
littlebot_base/src/serial_port.cpp	Refactored serial port implementation
littlebot_base/include/littlebot_base/littlebot_driver.hpp	Updated driver with RT buffer support
littlebot_base/src/littlebot_driver.cpp	Refactored driver implementation
littlebot_base/src/littlebot_hardware_component.cpp	Commented out old driver integration (WIP)
littlebot_base/test/mock_serial_port.hpp	Updated mock using gmock
littlebot_base/test/mock_rt_buffer.hpp	New mock for RT buffer
littlebot_base/test/test_serial_port.cpp	New comprehensive serial port tests
littlebot_base/test/test_littlebot_driver.cpp	Updated driver tests
littlebot_base/test/test_littlebot_hardware_component.cpp	Commented out hardware component tests (WIP)
littlebot_base/CMakeLists.txt	Added realtime_tools dependency and codec source
littlebot_base/package.xml	Added realtime_tools dependency
docs/figures/wheel_controller.png	New architecture diagram

---

💡 Add Copilot custom instructions for smarter, more guided reviews. Learn how to get started.