From 0462c9e5c017c76c4bda1f9f276ebfb031fbdd68 Mon Sep 17 00:00:00 2001
From: "pinloon.lee" <pinloon.lee@westonrobot.com>
Date: Tue, 13 Jul 2021 22:25:32 +0800
Subject: [PATCH] add tracer demo

---
 demo/CMakeLists.txt                    |  2 +-
 demo/tracer_demo/CMakeLists.txt        |  2 +
 demo/tracer_demo/tracer_robot_demo.cpp | 88 ++++++++++++++++++++++++++
 3 files changed, 91 insertions(+), 1 deletion(-)
 create mode 100644 demo/tracer_demo/CMakeLists.txt
 create mode 100644 demo/tracer_demo/tracer_robot_demo.cpp

diff --git a/demo/CMakeLists.txt b/demo/CMakeLists.txt
index 6756879..7c6a3f4 100755
--- a/demo/CMakeLists.txt
+++ b/demo/CMakeLists.txt
@@ -1,6 +1,6 @@
 # demo
 add_subdirectory(scout_demo)
-
+add_subdirectory(tracer_demo)
 # add_executable(app_hunter_demo hunter_demo/hunter_demo.cpp)
 # target_link_libraries(app_hunter_demo ugv_sdk)
 
diff --git a/demo/tracer_demo/CMakeLists.txt b/demo/tracer_demo/CMakeLists.txt
new file mode 100644
index 0000000..d037a3e
--- /dev/null
+++ b/demo/tracer_demo/CMakeLists.txt
@@ -0,0 +1,2 @@
+add_executable(demo_tracer_robot tracer_robot_demo.cpp)
+target_link_libraries(demo_tracer_robot ugv_sdk)
\ No newline at end of file
diff --git a/demo/tracer_demo/tracer_robot_demo.cpp b/demo/tracer_demo/tracer_robot_demo.cpp
new file mode 100644
index 0000000..e044725
--- /dev/null
+++ b/demo/tracer_demo/tracer_robot_demo.cpp
@@ -0,0 +1,88 @@
+/*
+ * scout_robot_demo.cpp
+ *
+ * Created on: Jul 13, 2021 22:22
+ * Description:
+ *
+ * Copyright (c) 2021 Weston Robot Pte. Ltd.
+ */
+
+#include <unistd.h>
+
+#include <memory>
+#include <iostream>
+
+#include "ugv_sdk/mobile_robot/tracer_robot.hpp"
+
+using namespace westonrobot;
+
+int main(int argc, char **argv) {
+  std::string device_name;
+
+  if (argc == 2) {
+    device_name = {argv[1]};
+    std::cout << "Using interface "
+              << device_name << std::endl;
+  } else {
+    std::cout << "Usage: app_tracer_demo <interface>"
+              << std::endl
+              << "Example 1: ./app_tracer_demo can0" << std::endl;
+    return -1;
+  }
+
+  std::unique_ptr<TracerRobot> tracer;
+  tracer = std::unique_ptr<TracerRobot>(new TracerRobot());
+  if (tracer == nullptr)
+    std::cout << "Failed to create robot object" << std::endl;
+
+  tracer->Connect(device_name);
+  tracer->EnableCommandedMode();
+
+  // light control
+  std::cout << "Light: const off" << std::endl;
+  tracer->SetLightCommand(CONST_OFF, 0);
+  sleep(3);
+  std::cout << "Light: const on" << std::endl;
+  tracer->SetLightCommand(CONST_ON, 0);
+  sleep(3);
+  std::cout << "Light: breath" << std::endl;
+  tracer->SetLightCommand(BREATH, 0);
+  sleep(3);
+  std::cout << "Light: custom 30-80" << std::endl;
+  tracer->SetLightCommand(CUSTOM, 30);
+  sleep(3);
+  //   std::cout << "Light: diabled cmd control" << std::endl;
+  //   scout->DisableLightControl();
+  tracer->SetLightCommand(CONST_OFF, 0);
+
+  int count = 0;
+  while (true) {
+    // motion control
+    std::cout << "Motor: 1.0, 0" << std::endl;
+    tracer->SetMotionCommand(1.0, 0.0);
+
+    // get robot state
+    auto state = tracer->GetRobotState();
+    std::cout << "-------------------------------" << std::endl;
+    std::cout << "count: " << count << std::endl;
+    std::cout << "control mode: "
+              << static_cast<int>(state.system_state.control_mode)
+              << " , vehicle state: "
+              << static_cast<int>(state.system_state.vehicle_state)
+              << " , error code: " << std::hex << state.system_state.error_code
+              << ", battery voltage: " << state.system_state.battery_voltage
+              << std::endl;
+    std::cout << "velocity (linear, angular): "
+              << state.motion_state.linear_velocity << ", "
+              << state.motion_state.angular_velocity << std::endl;
+
+    for (int i = 0; i < 2; ++i) {
+    }
+    std::cout << "-------------------------------" << std::endl;
+
+    usleep(20000);
+    ++count;
+  }
+
+  return 0;
+}
\ No newline at end of file