add tracer_robot

include/ugv_sdk/mobile_robot/tracer_robot.hpp

@@ -0,0 +1,48 @@
+/*
+ * tracer_robot.hpp
+ *
+ * Created on: Jul 13, 2021 21:59
+ * Description:
+ *
+ * Copyright (c) 2021 Weston Robot Pte. Ltd.
+ */
+
+#ifndef TRACER_ROBOT_HPP
+#define TRACER_ROBOT_HPP
+
+#include <memory>
+
+#include "ugv_sdk/details/interface/robot_interface.hpp"
+#include "ugv_sdk/details/interface/tracer_interface.hpp"
+
+// #include "ugv_sdk/details/robot_base/tracer_base.hpp"
+
+namespace westonrobot {
+// using TracerRobot = TracerBaseV2();
+class TracerRobot : public RobotInterface, public TracerInterface {
+ public:
+  TracerRobot();
+  ~TracerRobot();
+
+  void Connect(std::string can_name) override;
+  void Connect(std::string uart_name, uint32_t baudrate) override;
+
+  void EnableCommandedMode() override;
+
+  void SetMotionCommand(double linear_vel, double angular_vel) override;
+  void SetLightCommand(LightMode f_mode, uint8_t f_value) override;
+  void DisableLightControl() override;
+
+  void ResetRobotState() override;
+
+  ProtocolVersion GetProtocolVersion() override;
+
+  // get robot state
+  TracerState GetRobotState() override;
+
+ private:
+  RobotInterface* robot_;
+};
+}  // namespace westonrobot
+
+#endif /* TRACER_ROBOT_HPP */