text: // Copyright 2018 Toyota Research Institute.
  //
  // Licensed under the Apache License, Version 2.0 (the "License");
  // you may not use this file except in compliance with the License.
  // You may obtain a copy of the License at
  //
  //     http://www.apache.org/licenses/LICENSE-2.0
  //
  // Unless required by applicable law or agreed to in writing, software
  // distributed under the License is distributed on an "AS IS" BASIS,
  // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
  // See the License for the specific language governing permissions and
  // limitations under the License.
  
  #pragma once
  
  #include <memory>
  #include <mutex>
  
  #include <jaguar4x4_comms/AbstractCommunication.h>
  
  class BaseCommand final {
   public:
    explicit BaseCommand(std::shared_ptr<AbstractCommunication> comm);
    void move(int value_left, int value_right);
    void resume();
    void eStop();
    void ping();
  
  private:
    std::shared_ptr<AbstractCommunication> comm_;
    std::mutex send_mutex;
  };
  