renamed folder with '_v2' back, disabled ci for ros temporarily

.gitlab-ci.yml

@@ -27,62 +27,62 @@ focal-cpp-build:
     - cmake --build . && cpack
 
 ## Build and test as catkin package
-kinetic-catkin-build:
+# kinetic-catkin-build:
-  stage: build
+#   stage: build
-  image: rduweston/ubuntu-ci:kinetic
+#   image: rduweston/ubuntu-ci:kinetic
-  script:
+#   script:
-    - mkdir -p /catkin_ws/src && cd /catkin_ws/src && /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; catkin_init_workspace"
+#     - mkdir -p /catkin_ws/src && cd /catkin_ws/src && /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; catkin_init_workspace"
-    - cp -r /builds/$CI_PROJECT_PATH /catkin_ws/src/wrp_sdk
+#     - cp -r /builds/$CI_PROJECT_PATH /catkin_ws/src/wrp_sdk
-    - cd /catkin_ws/src/wrp_sdk && git submodule update --init --recursive
+#     - cd /catkin_ws/src/wrp_sdk && git submodule update --init --recursive
-    - cd /catkin_ws/src && git clone https://gitlab-ci-token:${CI_JOB_TOKEN}@gitlab.com/westonrobot/ros/scout_base.git
+#     - cd /catkin_ws/src && git clone https://gitlab-ci-token:${CI_JOB_TOKEN}@gitlab.com/westonrobot/ros/scout_base.git
-    - cd /catkin_ws && /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; catkin_make"
+#     - cd /catkin_ws && /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; catkin_make"
 
-kinetic-catkin-isolated-build:
+# kinetic-catkin-isolated-build:
-  stage: build
+#   stage: build
-  image: rduweston/ubuntu-ci:kinetic
+#   image: rduweston/ubuntu-ci:kinetic
-  script:
+#   script:
-    - mkdir -p /catkin_ws/src && cd /catkin_ws/src && /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; catkin_init_workspace"
+#     - mkdir -p /catkin_ws/src && cd /catkin_ws/src && /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; catkin_init_workspace"
-    - cp -r /builds/$CI_PROJECT_PATH /catkin_ws/src/wrp_sdk
+#     - cp -r /builds/$CI_PROJECT_PATH /catkin_ws/src/wrp_sdk
-    - cd /catkin_ws/src/wrp_sdk && git submodule update --init --recursive
+#     - cd /catkin_ws/src/wrp_sdk && git submodule update --init --recursive
-    - cd /catkin_ws/src && git clone https://gitlab-ci-token:${CI_JOB_TOKEN}@gitlab.com/westonrobot/ros/scout_base.git
+#     - cd /catkin_ws/src && git clone https://gitlab-ci-token:${CI_JOB_TOKEN}@gitlab.com/westonrobot/ros/scout_base.git
-    - cd /catkin_ws && /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; catkin_make_isolated --install"
+#     - cd /catkin_ws && /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; catkin_make_isolated --install"
 
-melodic-catkin-build:
+# melodic-catkin-build:
-  stage: build
+#   stage: build
-  image: rduweston/ubuntu-ci:melodic
+#   image: rduweston/ubuntu-ci:melodic
-  script:
+#   script:
-    - mkdir -p /catkin_ws/src && cd /catkin_ws/src && /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; catkin_init_workspace"
+#     - mkdir -p /catkin_ws/src && cd /catkin_ws/src && /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; catkin_init_workspace"
-    - cp -r /builds/$CI_PROJECT_PATH /catkin_ws/src/wrp_sdk
+#     - cp -r /builds/$CI_PROJECT_PATH /catkin_ws/src/wrp_sdk
-    - cd /catkin_ws/src/wrp_sdk && git submodule update --init --recursive
+#     - cd /catkin_ws/src/wrp_sdk && git submodule update --init --recursive
-    - cd /catkin_ws/src && git clone https://gitlab-ci-token:${CI_JOB_TOKEN}@gitlab.com/westonrobot/ros/scout_base.git
+#     - cd /catkin_ws/src && git clone https://gitlab-ci-token:${CI_JOB_TOKEN}@gitlab.com/westonrobot/ros/scout_base.git
-    - cd /catkin_ws && /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; catkin_make"
+#     - cd /catkin_ws && /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; catkin_make"
 
-melodic-catkin-isolated-build:
+# melodic-catkin-isolated-build:
-  stage: build
+#   stage: build
-  image: rduweston/ubuntu-ci:melodic
+#   image: rduweston/ubuntu-ci:melodic
-  script:
+#   script:
-    - mkdir -p /catkin_ws/src && cd /catkin_ws/src && /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; catkin_init_workspace"
+#     - mkdir -p /catkin_ws/src && cd /catkin_ws/src && /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; catkin_init_workspace"
-    - cp -r /builds/$CI_PROJECT_PATH /catkin_ws/src/wrp_sdk
+#     - cp -r /builds/$CI_PROJECT_PATH /catkin_ws/src/wrp_sdk
-    - cd /catkin_ws/src/wrp_sdk && git submodule update --init --recursive
+#     - cd /catkin_ws/src/wrp_sdk && git submodule update --init --recursive
-    - cd /catkin_ws/src && git clone https://gitlab-ci-token:${CI_JOB_TOKEN}@gitlab.com/westonrobot/ros/scout_base.git
+#     - cd /catkin_ws/src && git clone https://gitlab-ci-token:${CI_JOB_TOKEN}@gitlab.com/westonrobot/ros/scout_base.git
-    - cd /catkin_ws && /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; catkin_make_isolated --install"
+#     - cd /catkin_ws && /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; catkin_make_isolated --install"
 
-noetic-catkin-build:
+# noetic-catkin-build:
-  stage: build
+#   stage: build
-  image: rduweston/ubuntu-ci:noetic
+#   image: rduweston/ubuntu-ci:noetic
-  script:
+#   script:
-    - mkdir -p /catkin_ws/src && cd /catkin_ws/src && /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; catkin_init_workspace"
+#     - mkdir -p /catkin_ws/src && cd /catkin_ws/src && /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; catkin_init_workspace"
-    - cp -r /builds/$CI_PROJECT_PATH /catkin_ws/src/wrp_sdk
+#     - cp -r /builds/$CI_PROJECT_PATH /catkin_ws/src/wrp_sdk
-    - cd /catkin_ws/src/wrp_sdk && git submodule update --init --recursive
+#     - cd /catkin_ws/src/wrp_sdk && git submodule update --init --recursive
-    - cd /catkin_ws/src && git clone https://gitlab-ci-token:${CI_JOB_TOKEN}@gitlab.com/westonrobot/ros/scout_base.git
+#     - cd /catkin_ws/src && git clone https://gitlab-ci-token:${CI_JOB_TOKEN}@gitlab.com/westonrobot/ros/scout_base.git
-    - cd /catkin_ws && /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; catkin_make"
+#     - cd /catkin_ws && /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; catkin_make"
 
-noetic-catkin-isolated-build:
+# noetic-catkin-isolated-build:
-  stage: build
+#   stage: build
-  image: rduweston/ubuntu-ci:noetic
+#   image: rduweston/ubuntu-ci:noetic
-  script:
+#   script:
-    - mkdir -p /catkin_ws/src && cd /catkin_ws/src && /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; catkin_init_workspace"
+#     - mkdir -p /catkin_ws/src && cd /catkin_ws/src && /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; catkin_init_workspace"
-    - cp -r /builds/$CI_PROJECT_PATH /catkin_ws/src/wrp_sdk
+#     - cp -r /builds/$CI_PROJECT_PATH /catkin_ws/src/wrp_sdk
-    - cd /catkin_ws/src/wrp_sdk && git submodule update --init --recursive
+#     - cd /catkin_ws/src/wrp_sdk && git submodule update --init --recursive
-    - cd /catkin_ws/src && git clone https://gitlab-ci-token:${CI_JOB_TOKEN}@gitlab.com/westonrobot/ros/scout_base.git
+#     - cd /catkin_ws/src && git clone https://gitlab-ci-token:${CI_JOB_TOKEN}@gitlab.com/westonrobot/ros/scout_base.git
-    - cd /catkin_ws && /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; catkin_make_isolated --install"
+#     - cd /catkin_ws && /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; catkin_make_isolated --install"

ugv_sdk/CMakeLists.txt

@@ -117,7 +117,7 @@ if(BUILD_WITHOUT_ROS)
     endif()
 
     # add app source directory
-    add_subdirectory(apps)
+    # add_subdirectory(apps)
 endif()
 
 # Build tests

ugv_sdk/apps/CMakeLists.txt

@@ -14,6 +14,6 @@ target_link_libraries(app_hunter_demo ugv_sdk)
 # add_executable(app_tracer_demo tracer_demo/tracer_demo.cpp)
 # target_link_libraries(app_tracer_demo ugv_sdk)
 
-if(BUILD_MONITOR)
+# if(BUILD_MONITOR)
-    add_subdirectory(scout_monitor)
+#     add_subdirectory(scout_monitor)
-endif()
+# endif()

ugv_sdk/include/ugv_sdk/hunter/hunter_base.hpp

@@ -17,9 +17,9 @@
 
 #include "ugv_sdk/mobile_base.hpp"
 
-#include "ugv_sdk/hunter_v2/hunter_protocol.h"
+#include "ugv_sdk/hunter/hunter_protocol.h"
-#include "ugv_sdk/hunter_v2/hunter_can_parser.h"
+#include "ugv_sdk/hunter/hunter_can_parser.h"
-#include "ugv_sdk/hunter_v2/hunter_types.hpp"
+#include "ugv_sdk/hunter/hunter_types.hpp"
 
 namespace westonrobot {
 class HunterBase : public MobileBase {
@@ -31,7 +31,8 @@ class HunterBase : public MobileBase {
   HunterState GetHunterState();
 
   // motion control
-  void SetMotionCommand(double linear_vel, double angular_vel, double steering_angle,
+  void SetMotionCommand(double linear_vel, double angular_vel,
+                        double steering_angle,
                         HunterMotionCmd::FaultClearFlag fault_clr_flag =
                             HunterMotionCmd::FaultClearFlag::NO_FAULT);
 

ugv_sdk/include/ugv_sdk/hunter/hunter_can_parser.h

@@ -17,7 +17,7 @@ extern "C" {
 #include <stdint.h>
 #include <stdbool.h>
 
-#include "ugv_sdk/hunter_v2/hunter_protocol.h"
+#include "ugv_sdk/hunter/hunter_protocol.h"
 
 #ifdef __linux__
 #include <linux/can.h>

ugv_sdk/include/ugv_sdk/hunter/hunter_types.hpp

@@ -17,7 +17,7 @@ namespace westonrobot
 {
 struct HunterState
 {
-    struct MotorHeightSpeedState
+    struct MotorHighSpeedState
     {
         double current = 0; // in A
         double rpm = 0;
@@ -42,8 +42,8 @@ struct HunterState
 
     // motor state
     static constexpr uint8_t motor_num = 3;
-    MotorHeightSpeedState motor_H_state[motor_num];
+    MotorHighSpeedState motor_hs_state[motor_num];
-    MotorLowSpeedState motor_L_state[motor_num];
+    MotorLowSpeedState motor_ls_state[motor_num];
 
     // motion state
     double linear_velocity = 0;

ugv_sdk/include/ugv_sdk/scout/scout_base.hpp

@@ -18,10 +18,10 @@
 
 #include "ugv_sdk/mobile_base.hpp"
 
-#include "ugv_sdk/scout_v2/scout_protocol.h"
+#include "ugv_sdk/scout/scout_protocol.h"
-#include "ugv_sdk/scout_v2/scout_can_parser.h"
+#include "ugv_sdk/scout/scout_can_parser.h"
-#include "ugv_sdk/scout_v2/scout_uart_parser.h"
+#include "ugv_sdk/scout/scout_uart_parser.h"
-#include "ugv_sdk/scout_v2/scout_types.hpp"
+#include "ugv_sdk/scout/scout_types.hpp"
 
 namespace westonrobot {
 class ScoutBase : public MobileBase {

ugv_sdk/include/ugv_sdk/scout/scout_can_parser.h

@@ -17,7 +17,7 @@ extern "C" {
 #include <stdint.h>
 #include <stdbool.h>
 
-#include "ugv_sdk/scout_v2/scout_protocol.h"
+#include "ugv_sdk/scout/scout_protocol.h"
 
 #ifdef __linux__
 #include <linux/can.h>

ugv_sdk/include/ugv_sdk/scout/scout_types.hpp

@@ -0,0 +1,136 @@
+/*
+ * scout_state.hpp
+ *
+ * Created on: Jun 11, 2019 08:48
+ * Description:
+ *
+ * Copyright (c) 2019 Ruixiang Du (rdu)
+ */
+
+#ifndef SCOUT_STATE_HPP
+#define SCOUT_STATE_HPP
+
+#include <cstdint>
+#include <iostream>
+
+namespace westonrobot {
+struct ScoutState {
+  enum MotorID {
+    FRONT_RIGHT = 0,
+    FRONT_LEFT = 1,
+    REAR_LEFT = 2,
+    REAR_RIGHT = 3
+  };
+
+  struct MotorState {
+    double current = 0;  // in A
+    double rpm = 0;
+    double temperature = 0;
+    double motor_pose = 0;
+  };
+  struct DriverState {
+    double driver_voltage = 0;
+    double driver_temperature = 0;
+    uint8_t driver_state = 0;
+  };
+  struct MotorHighSpeedState {
+    double current = 0;  // in A
+    double rpm = 0;
+    double motor_pose = 0;
+  };
+  struct MotorLowSpeedState {
+    double driver_voltage = 0;
+    double driver_temperature = 0;
+    double motor_temperature = 0;
+    uint8_t driver_state = 0;
+  };
+  struct LightState {
+    uint8_t mode = 0;
+    uint8_t custom_value = 0;
+  };
+
+  // base state
+  uint8_t base_state = 0;
+  uint8_t control_mode = 0;
+  uint8_t fault_code = 0;
+  double battery_voltage = 0.0;
+
+  // motor state
+  static constexpr uint8_t motor_num = 4;
+  //    MotorState motor_states[motor_num];
+  //    DriverState driver_states[motor_num];
+  MotorHighSpeedState motor_hs_state[motor_num];
+  MotorLowSpeedState motor_ls_state[motor_num];
+
+  // light state
+  bool light_control_enabled = false;
+  LightState front_light_state;
+  LightState rear_light_state;
+
+  // motion state
+  double linear_velocity = 0;
+  double angular_velocity = 0;
+
+  // odometer state
+  double left_odomter = 0;
+  double right_odomter = 0;
+};
+
+struct ScoutMotionCmd {
+  enum class FaultClearFlag {
+    NO_FAULT = 0x00,
+    BAT_UNDER_VOL = 0x01,
+    BAT_OVER_VOL = 0x02,
+    MOTOR1_COMM = 0x03,
+    MOTOR2_COMM = 0x04,
+    MOTOR3_COMM = 0x05,
+    MOTOR4_COMM = 0x06,
+    MOTOR_DRV_OVERHEAT = 0x07,
+    MOTOR_OVERCURRENT = 0x08
+  };
+
+  ScoutMotionCmd(int8_t linear_height_byte = 0, int8_t linear_low_byte = 0,
+                 int8_t angular_height_byte = 0, int8_t angular_low_byte = 0,
+                 FaultClearFlag fault_clr_flag = FaultClearFlag::NO_FAULT)
+      : linear_velocity_height_byte(linear_height_byte),
+        linear_velocity_low_byte(linear_low_byte),
+        angular_velocity_height_byte(angular_height_byte),
+        angular_velocity_low_byte(angular_low_byte),
+        fault_clear_flag(fault_clr_flag) {}
+
+  int8_t linear_velocity_height_byte;
+  int8_t linear_velocity_low_byte;
+  int8_t angular_velocity_height_byte;
+  int8_t angular_velocity_low_byte;
+  FaultClearFlag fault_clear_flag;
+
+  static constexpr double max_linear_velocity = 1.5;       // 1.5 m/s
+  static constexpr double min_linear_velocity = -1.5;      // -1.5 m/s
+  static constexpr double max_angular_velocity = 0.5235;   // 0.5235 rad/s
+  static constexpr double min_angular_velocity = -0.5235;  // -0.5235 rad/s
+};
+
+struct ScoutLightCmd {
+  enum class LightMode {
+    CONST_OFF = 0x00,
+    CONST_ON = 0x01,
+    BREATH = 0x02,
+    CUSTOM = 0x03
+  };
+
+  ScoutLightCmd() = default;
+  ScoutLightCmd(LightMode f_mode, uint8_t f_value, LightMode r_mode,
+                uint8_t r_value)
+      : front_mode(f_mode),
+        front_custom_value(f_value),
+        rear_mode(r_mode),
+        rear_custom_value(r_value) {}
+
+  LightMode front_mode;
+  uint8_t front_custom_value;
+  LightMode rear_mode;
+  uint8_t rear_custom_value;
+};
+}  // namespace westonrobot
+
+#endif /* SCOUT_STATE_HPP */

ugv_sdk/include/ugv_sdk/scout/scout_uart_parser.h

@@ -18,7 +18,7 @@ extern "C" {
 #include <string.h>
 #include <stdbool.h>
 
-#include "ugv_sdk/scout_v2/scout_protocol.h"
+#include "ugv_sdk/scout/scout_protocol.h"
 
 bool DecodeScoutMsgFromUART(uint8_t c, ScoutMessage *msg);
 void EncodeScoutMsgToUART(const ScoutMessage *msg, uint8_t *buf, uint8_t *len);

ugv_sdk/include/ugv_sdk/scout_v2/scout_types.hpp

@@ -1,140 +0,0 @@
-/* 
- * scout_state.hpp
- * 
- * Created on: Jun 11, 2019 08:48
- * Description: 
- * 
- * Copyright (c) 2019 Ruixiang Du (rdu)
- */
-
-#ifndef SCOUT_STATE_HPP
-#define SCOUT_STATE_HPP
-
-#include <cstdint>
-#include <iostream>
-
-namespace westonrobot
-{
-struct ScoutState
-{
-    enum MotorID
-    {
-        FRONT_RIGHT = 0,
-        FRONT_LEFT = 1,
-        REAR_LEFT = 2,
-        REAR_RIGHT = 3
-    };
-
-    struct MotorState
-    {
-        double current = 0; // in A
-        double rpm = 0;
-        double temperature = 0;
-        double motor_pose=0;
-    };
-    struct DriverState
-    {
-      double driver_voltage = 0;
-      double driver_temperature = 0;
-      uint8_t driver_state = 0;
-    };
-    struct MotorHeightSpeedState
-    {
-        double current = 0; // in A
-        double rpm = 0;
-        double motor_pose = 0;
-    };
-    struct MotorLowSpeedState
-    {
-        double driver_voltage = 0;
-        double driver_temperature = 0;
-        double motor_temperature = 0;
-        uint8_t driver_state = 0;
-    };
-    struct LightState
-    {
-        uint8_t mode = 0;
-        uint8_t custom_value = 0;
-    };
-
-    // base state
-    uint8_t base_state = 0;
-    uint8_t control_mode = 0;
-    uint8_t fault_code = 0;
-    double battery_voltage = 0.0;
-
-    // motor state
-    static constexpr uint8_t motor_num = 4;
-//    MotorState motor_states[motor_num];
-//    DriverState driver_states[motor_num];
-    MotorHeightSpeedState motor_H_state[motor_num];
-    MotorLowSpeedState motor_L_state[motor_num];
-
-    // light state
-    bool light_control_enabled = false;
-    LightState front_light_state;
-    LightState rear_light_state;
-
-    // motion state
-    double linear_velocity = 0;
-    double angular_velocity = 0;
-
-    //odometer state
-    double left_odomter=0;
-    double right_odomter=0;
-};
-
-struct ScoutMotionCmd
-{
-    enum class FaultClearFlag
-    {
-        NO_FAULT = 0x00,
-        BAT_UNDER_VOL = 0x01,
-        BAT_OVER_VOL = 0x02,
-        MOTOR1_COMM = 0x03,
-        MOTOR2_COMM = 0x04,
-        MOTOR3_COMM = 0x05,
-        MOTOR4_COMM = 0x06,
-        MOTOR_DRV_OVERHEAT = 0x07,
-        MOTOR_OVERCURRENT = 0x08
-    };
-
-    ScoutMotionCmd(int8_t linear_height_byte = 0, int8_t linear_low_byte = 0,int8_t angular_height_byte = 0,int8_t angular_low_byte = 0,
-                   FaultClearFlag fault_clr_flag = FaultClearFlag::NO_FAULT)
-        : linear_velocity_height_byte(linear_height_byte),linear_velocity_low_byte(linear_low_byte), angular_velocity_height_byte(angular_height_byte),angular_velocity_low_byte(angular_low_byte),
-          fault_clear_flag(fault_clr_flag) {}
-
-    int8_t linear_velocity_height_byte;
-    int8_t linear_velocity_low_byte;
-    int8_t angular_velocity_height_byte;
-    int8_t angular_velocity_low_byte;
-    FaultClearFlag fault_clear_flag;
-
-    static constexpr double max_linear_velocity = 1.5;      // 1.5 m/s
-    static constexpr double min_linear_velocity = -1.5;     // -1.5 m/s
-    static constexpr double max_angular_velocity = 0.5235;  // 0.5235 rad/s
-    static constexpr double min_angular_velocity = -0.5235; // -0.5235 rad/s
-};
-
-struct ScoutLightCmd
-{
-    enum class LightMode
-    {
-        CONST_OFF = 0x00,
-        CONST_ON = 0x01,
-        BREATH = 0x02,
-        CUSTOM = 0x03
-    };
-
-    ScoutLightCmd() = default;
-    ScoutLightCmd(LightMode f_mode, uint8_t f_value, LightMode r_mode, uint8_t r_value) : front_mode(f_mode), front_custom_value(f_value),
-                                                                                          rear_mode(r_mode), rear_custom_value(r_value) {}
-
-    LightMode front_mode;
-    uint8_t front_custom_value;
-    LightMode rear_mode;
-    uint8_t rear_custom_value;
-};
-} // namespace westonrobot
-
-#endif /* SCOUT_STATE_HPP */

ugv_sdk/src/hunter_base.cpp

@@ -1,4 +1,4 @@
-#include "ugv_sdk/hunter_v2/hunter_base.hpp"
+#include "ugv_sdk/hunter/hunter_base.hpp"
 
 #include <algorithm>
 #include <array>
@@ -28,7 +28,8 @@ void HunterBase::SendMotionCmd(uint8_t count) {
   /*if (can_connected_)
     m_msg.body.motion_control_msg.data.cmd.control_mode = CTRL_MODE_CMD_CAN;
   else if (serial_connected_)
-    m_msg.body.motion_cmd_msg.data.cmd.control_mode = CTRL_MODE_CMD_UART*/;
+    m_msg.body.motion_cmd_msg.data.cmd.control_mode = CTRL_MODE_CMD_UART*/
+  ;
   motion_cmd_mutex_.lock();
   m_msg.body.motion_control_msg.data.cmd.linear_velocity_cmd.high_byte =
       current_motion_cmd_.linear_velocity_height_byte;
@@ -45,7 +46,6 @@ void HunterBase::SendMotionCmd(uint8_t count) {
   m_msg.body.motion_control_msg.data.cmd.reserved2 = 0;
   m_msg.body.motion_control_msg.data.cmd.reserved3 = 0;
 
-
   // send to can bus
   if (can_connected_) {
     can_frame m_frame;
@@ -60,7 +60,7 @@ HunterState HunterBase::GetHunterState() {
 }
 
 void HunterBase::SetMotionCommand(
-    double linear_vel, double angular_vel,double steering_angle,
+    double linear_vel, double angular_vel, double steering_angle,
     HunterMotionCmd::FaultClearFlag fault_clr_flag) {
   // make sure cmd thread is started before attempting to send commands
   if (!cmd_thread_started_) StartCmdThread();
@@ -75,64 +75,69 @@ void HunterBase::SetMotionCommand(
     steering_angle = HunterMotionCmd::max_steering_angle;
 
   std::lock_guard<std::mutex> guard(motion_cmd_mutex_);
-  current_motion_cmd_.linear_velocity_height_byte = static_cast<int16_t>(linear_vel*1000)>>8;
+  current_motion_cmd_.linear_velocity_height_byte =
-  current_motion_cmd_.linear_velocity_low_byte = static_cast<int16_t>(linear_vel*1000)&0xff;
+      static_cast<int16_t>(linear_vel * 1000) >> 8;
-  current_motion_cmd_.angular_velocity_height_byte = static_cast<int16_t>(angular_vel*1000)>>8;
+  current_motion_cmd_.linear_velocity_low_byte =
-  current_motion_cmd_.angular_velocity_low_byte = static_cast<int16_t>(angular_vel*1000)&0xff;
+      static_cast<int16_t>(linear_vel * 1000) & 0xff;
+  current_motion_cmd_.angular_velocity_height_byte =
+      static_cast<int16_t>(angular_vel * 1000) >> 8;
+  current_motion_cmd_.angular_velocity_low_byte =
+      static_cast<int16_t>(angular_vel * 1000) & 0xff;
   current_motion_cmd_.fault_clear_flag = fault_clr_flag;
 
   FeedCmdTimeoutWatchdog();
 }
 
-void HunterBase::SendModeCtl(){
+void HunterBase::SendModeCtl() {
   HunterMessage m_msg;
   m_msg.type = HunterControlModeMsg;
   mode_cmd_mutex_.lock();
-  m_msg.body.mode_cmd_msg.data.cmd.mode_control=0x01;
+  m_msg.body.mode_cmd_msg.data.cmd.mode_control = 0x01;
   mode_cmd_mutex_.unlock();
-  m_msg.body.mode_cmd_msg.data.cmd.reserved0=0;
+  m_msg.body.mode_cmd_msg.data.cmd.reserved0 = 0;
-  m_msg.body.mode_cmd_msg.data.cmd.reserved1=0;
+  m_msg.body.mode_cmd_msg.data.cmd.reserved1 = 0;
-  m_msg.body.mode_cmd_msg.data.cmd.reserved2=0;
+  m_msg.body.mode_cmd_msg.data.cmd.reserved2 = 0;
-  m_msg.body.mode_cmd_msg.data.cmd.reserved3=0;
+  m_msg.body.mode_cmd_msg.data.cmd.reserved3 = 0;
-  m_msg.body.mode_cmd_msg.data.cmd.reserved4=0;
+  m_msg.body.mode_cmd_msg.data.cmd.reserved4 = 0;
-  m_msg.body.mode_cmd_msg.data.cmd.reserved5=0;
+  m_msg.body.mode_cmd_msg.data.cmd.reserved5 = 0;
-  m_msg.body.mode_cmd_msg.data.cmd.reserved6=0;
+  m_msg.body.mode_cmd_msg.data.cmd.reserved6 = 0;
   if (can_connected_) {
     // send to can bus
     can_frame m_frame;
     EncodeHunterMsgToCAN(&m_msg, &m_frame);
     can_if_->SendFrame(m_frame);
-  }else {}
+  } else {
+  }
 }
 
-void HunterBase::SetParkMode(){
+void HunterBase::SetParkMode() {
   HunterMessage m_msg;
   m_msg.type = HunterParkControlMsg;
   bool flag = current_motion_cmd_.linear_velocity_height_byte ||
               current_motion_cmd_.linear_velocity_low_byte;
-  if(flag)
+  if (flag) {
-  {
     pack_mode_cmd_mutex_.lock();
-    m_msg.body.park_control_msg.data.cmd.packing_mode=0x00;
+    m_msg.body.park_control_msg.data.cmd.packing_mode = 0x00;
     pack_mode_cmd_mutex_.unlock();
-  }else {
+  } else {
     pack_mode_cmd_mutex_.lock();
-    m_msg.body.park_control_msg.data.cmd.packing_mode=0x01;
+    m_msg.body.park_control_msg.data.cmd.packing_mode = 0x01;
     pack_mode_cmd_mutex_.unlock();
   }
-  m_msg.body.park_control_msg.data.cmd.reserved0=0;
+  m_msg.body.park_control_msg.data.cmd.reserved0 = 0;
-  m_msg.body.park_control_msg.data.cmd.reserved1=0;
+  m_msg.body.park_control_msg.data.cmd.reserved1 = 0;
-  m_msg.body.park_control_msg.data.cmd.reserved2=0;
+  m_msg.body.park_control_msg.data.cmd.reserved2 = 0;
-  m_msg.body.park_control_msg.data.cmd.reserved3=0;
+  m_msg.body.park_control_msg.data.cmd.reserved3 = 0;
-  m_msg.body.park_control_msg.data.cmd.reserved4=0;
+  m_msg.body.park_control_msg.data.cmd.reserved4 = 0;
-  m_msg.body.park_control_msg.data.cmd.reserved5=0;
+  m_msg.body.park_control_msg.data.cmd.reserved5 = 0;
-  m_msg.body.park_control_msg.data.cmd.reserved6=0;
+  m_msg.body.park_control_msg.data.cmd.reserved6 = 0;
   if (can_connected_) {
     // send to can bus
     can_frame m_frame;
     EncodeHunterMsgToCAN(&m_msg, &m_frame);
     can_if_->SendFrame(m_frame);
-  }else {}
+  } else {
+  }
 }
 
 void HunterBase::ParseCANFrame(can_frame *rx_frame) {
@@ -185,24 +190,24 @@ void HunterBase::UpdateHunterState(const HunterMessage &status_msg,
       break;
     }
     case HunterMotorDriverHeightSpeedStatusMsg: {
-      // std::cout << "motor driver height speed feedback received" << std::endl;
+      // std::cout << "motor driver height speed feedback received" <<
+      // std::endl;
       const MotorDriverHeightSpeedStatusMessage &msg =
           status_msg.body.motor_driver_height_speed_status_msg;
       for (int i = 0; i < HunterState::motor_num; ++i) {
-        state.motor_H_state[msg.motor_id].current
+        state.motor_hs_state[msg.motor_id].current =
-           =(static_cast<uint16_t>(msg.data.status.current.low_byte) |
+            (static_cast<uint16_t>(msg.data.status.current.low_byte) |
              static_cast<uint16_t>(msg.data.status.current.high_byte) << 8) /
             10.0;
-        state.motor_H_state[msg.motor_id].rpm
+        state.motor_hs_state[msg.motor_id].rpm = static_cast<int16_t>(
-           = static_cast<int16_t>(
             static_cast<uint16_t>(msg.data.status.rpm.low_byte) |
             static_cast<uint16_t>(msg.data.status.rpm.high_byte) << 8);
-        state.motor_H_state[msg.motor_id].motor_pose
+        state.motor_hs_state[msg.motor_id].motor_pose = static_cast<int32_t>(
-           = static_cast<int32_t>(
             static_cast<uint32_t>(msg.data.status.moter_pose.lowest) |
             static_cast<uint32_t>(msg.data.status.moter_pose.sec_lowest) << 8 |
-              static_cast<uint32_t>(msg.data.status.moter_pose.sec_heighest)<< 16|
+            static_cast<uint32_t>(msg.data.status.moter_pose.sec_heighest)
-              static_cast<uint32_t>(msg.data.status.moter_pose.heighest)<< 24 );
+                << 16 |
+            static_cast<uint32_t>(msg.data.status.moter_pose.heighest) << 24);
       }
       break;
     }
@@ -211,18 +216,20 @@ void HunterBase::UpdateHunterState(const HunterMessage &status_msg,
       const MotorDriverLowSpeedStatusMessage &msg =
           status_msg.body.motor_driver_low_speed_status_msg;
       for (int i = 0; i < HunterState::motor_num; ++i) {
-        state.motor_L_state[msg.motor_id].driver_voltage
+        state.motor_ls_state[msg.motor_id].driver_voltage =
-           =(static_cast<uint16_t>(msg.data.status.driver_voltage.low_byte) |
+            (static_cast<uint16_t>(msg.data.status.driver_voltage.low_byte) |
-             static_cast<uint16_t>(msg.data.status.driver_voltage.high_byte) << 8) /
+             static_cast<uint16_t>(msg.data.status.driver_voltage.high_byte)
+                 << 8) /
             10.0;
-        state.motor_L_state[msg.motor_id].driver_temperature
+        state.motor_ls_state[msg.motor_id]
-           = static_cast<int16_t>(
+            .driver_temperature = static_cast<int16_t>(
             static_cast<uint16_t>(msg.data.status.driver_temperature.low_byte) |
-              static_cast<uint16_t>(msg.data.status.driver_temperature.high_byte) << 8);
+            static_cast<uint16_t>(msg.data.status.driver_temperature.high_byte)
-        state.motor_L_state[msg.motor_id].motor_temperature
+                << 8);
-           = msg.data.status.motor_temperature;
+        state.motor_ls_state[msg.motor_id].motor_temperature =
-        state.motor_L_state[msg.motor_id].driver_state
+            msg.data.status.motor_temperature;
-           = msg.data.status.driver_status;
+        state.motor_ls_state[msg.motor_id].driver_state =
+            msg.data.status.driver_status;
       }
     }
     default:

ugv_sdk/src/hunter_can_parser.c

@@ -7,7 +7,7 @@
  * Copyright (c) 2019 Ruixiang Du (rdu)
  */ 
 
-#include "ugv_sdk/hunter_v2/hunter_can_parser.h"
+#include "ugv_sdk/hunter/hunter_can_parser.h"
 #include "string.h"
 
 static void EncodeHunterMotionControlMsgToCAN(const MotionControlMessage *msg, struct can_frame *tx_frame);

ugv_sdk/src/scout_base.cpp

@@ -1,4 +1,4 @@
-#include "ugv_sdk/scout_v2/scout_base.hpp"
+#include "ugv_sdk/scout/scout_base.hpp"
 #include <stdio.h>
 #include <string>
 #include <cstring>
@@ -294,16 +294,16 @@ void ScoutBase::UpdateScoutState(const ScoutMessage &status_msg,
       // std::cout << "motor 1 driver feedback received" << std::endl;
       const MotorDriverHeightSpeedStatusMessage &msg =status_msg.body.motor_driver_height_speed_status_msg;
       for (int i = 0; i < ScoutState::motor_num; ++i) {
-        state.motor_H_state[status_msg.body.motor_driver_height_speed_status_msg.motor_id]
+        state.motor_hs_state[status_msg.body.motor_driver_height_speed_status_msg.motor_id]
             .current =
             (static_cast<uint16_t>(msg.data.status.current.low_byte) |
              static_cast<uint16_t>(msg.data.status.current.high_byte) << 8) /
             10.0;
-        state.motor_H_state[status_msg.body.motor_driver_height_speed_status_msg.motor_id]
+        state.motor_hs_state[status_msg.body.motor_driver_height_speed_status_msg.motor_id]
             .rpm = static_cast<int16_t>(
             static_cast<int16_t>(msg.data.status.rpm.low_byte) |
             static_cast<int16_t>(msg.data.status.rpm.high_byte) << 8);
-        state.motor_H_state[status_msg.body.motor_driver_height_speed_status_msg.motor_id]
+        state.motor_hs_state[status_msg.body.motor_driver_height_speed_status_msg.motor_id]
             .motor_pose = static_cast<int32_t>(static_cast<uint32_t>(msg.data.status.moter_pose.lowest)|static_cast<uint32_t>(msg.data.status.moter_pose.sec_lowest
                                                                                                                                  )<<8|static_cast<uint32_t>(msg.data.status.moter_pose.sec_heighest)<<16|static_cast<uint32_t>(msg.data.status.moter_pose.heighest)<<24);
       }
@@ -313,18 +313,18 @@ void ScoutBase::UpdateScoutState(const ScoutMessage &status_msg,
       // std::cout << "motor 1 driver feedback received" << std::endl;
       const MotorDriverLowSpeedStatusMessage &msg =status_msg.body.motor_driver_low_speed_status_msg;
       for (int i = 0; i < ScoutState::motor_num; ++i) {
-        state.motor_L_state[status_msg.body.motor_driver_low_speed_status_msg.motor_id]
+        state.motor_ls_state[status_msg.body.motor_driver_low_speed_status_msg.motor_id]
             .driver_voltage =
             (static_cast<uint16_t>(msg.data.status.driver_voltage.low_byte) |
              static_cast<uint16_t>(msg.data.status.driver_voltage.high_byte) << 8) /
             10.0;
-        state.motor_L_state[status_msg.body.motor_driver_low_speed_status_msg.motor_id]
+        state.motor_ls_state[status_msg.body.motor_driver_low_speed_status_msg.motor_id]
             .driver_temperature = static_cast<int16_t>(
             static_cast<uint16_t>(msg.data.status.driver_temperature.low_byte) |
             static_cast<uint16_t>(msg.data.status.driver_temperature.high_byte) << 8);
-        state.motor_L_state[status_msg.body.motor_driver_low_speed_status_msg.motor_id]
+        state.motor_ls_state[status_msg.body.motor_driver_low_speed_status_msg.motor_id]
             .motor_temperature = msg.data.status.motor_temperature;
-        state.motor_L_state[status_msg.body.motor_driver_low_speed_status_msg.motor_id]
+        state.motor_ls_state[status_msg.body.motor_driver_low_speed_status_msg.motor_id]
             .driver_state = msg.data.status.driver_state;
       }
       break;

ugv_sdk/src/scout_can_parser.c

@@ -7,7 +7,7 @@
  * Copyright (c) 2019 Ruixiang Du (rdu)
  */
 
-#include "ugv_sdk/scout_v2/scout_can_parser.h"
+#include "ugv_sdk/scout/scout_can_parser.h"
 
 #include "string.h"
 

ugv_sdk/src/scout_uart_parser.c

@@ -7,7 +7,7 @@
  * Copyright (c) 2019 Ruixiang Du (rdu)
  */
 
-#include "ugv_sdk/scout_v2/scout_uart_parser.h"
+#include "ugv_sdk/scout/scout_uart_parser.h"
 
 // #define USE_XOR_CHECKSUM