add ranger vehicle

include/ugv_sdk/ranger_base.hpp

@@ -0,0 +1,82 @@
+/**
+ * @Kit       : Qt-Creator: Desktop
+ * @Author    : Wang Zhe
+ * @Date      : 2021-04-19  19:12:52
+ * @FileName  : ranger_base.hpp
+ * @Mail      : wangzheqie@qq.com
+ * Copyright  : AgileX Robotics
+ **/
+
+#ifndef RANGER_BASE_HPP
+#define RANGER_BASE_HPP
+
+#include <cstdint>
+#include <mutex>
+#include <string>
+#include <thread>
+
+#include "ugv_sdk/agilex_base.hpp"
+
+namespace westonrobot {
+struct RangerState {
+  // system state
+  SystemStateMessage system_state;
+  MotionStateMessage motion_state;
+  LightStateMessage light_state;
+
+  RcStateMessage rc_state;
+
+  ActuatorHSStateMessage actuator_hs_state[4];
+  ActuatorLSStateMessage actuator_ls_state[4];
+
+  // sensor data
+  OdometryMessage odometry;
+};
+
+struct RangerMotionCmd {
+  double linear_velocity;
+  double angular_velocity;
+};
+
+struct RangerLightCmd {
+  RangerLightCmd() = default;
+  RangerLightCmd(LightMode f_mode, uint8_t f_value, LightMode r_mode,
+                 uint8_t r_value)
+      : cmd_ctrl_allowed(true),
+        front_mode(f_mode),
+        front_custom_value(f_value),
+        rear_mode(r_mode),
+        rear_custom_value(r_value) {}
+
+  bool cmd_ctrl_allowed = false;
+  LightMode front_mode;
+  uint8_t front_custom_value;
+  LightMode rear_mode;
+  uint8_t rear_custom_value;
+};
+
+/////////////////////////////////////////////////////////////////////////
+
+class RangerBase : public AgilexBase {
+ public:
+  RangerBase() : AgilexBase(){};
+  ~RangerBase() = default;
+
+  // set up connection
+  void Connect(std::string dev_name) override;
+
+  // robot control
+  void SetMotionCommand(double linear_vel, double angular_vel);
+  void SetLightCommand(const RangerLightCmd &cmd);
+
+  // get robot state
+  RangerState GetRangerState();
+
+ private:
+  RangerState ranger_state_;
+
+  void ParseCANFrame(can_frame *rx_frame) override;
+  void UpdateRangerState(const AgxMessage &status_msg, RangerState &state);
+};
+}  // namespace westonrobot
+#endif  // RANGER_BASE_HPP