initial comit, ported scout_sdk and added hunter support

src/apps/hunter_demo/hunter_demo.cpp

@@ -0,0 +1,99 @@
+/* 
+ * demo_hunter_can.cpp
+ * 
+ * Created on: Jun 12, 2019 05:03
+ * Description: 
+ * 
+ * Copyright (c) 2019 Ruixiang Du (rdu)
+ */
+
+#include "hunter_base/hunter_base.hpp"
+
+using namespace wescore;
+
+int main(int argc, char **argv)
+{
+    std::string device_name;
+    int32_t baud_rate = 0;
+
+    if (argc == 2)
+    {
+        device_name = {argv[1]};
+        std::cout << "Specified CAN: " << device_name << std::endl;
+    }
+    else if (argc == 3)
+    {
+        device_name = {argv[1]};
+        baud_rate = std::stol(argv[2]);
+        std::cout << "Specified serial: " << device_name << "@" << baud_rate << std::endl;
+    }
+    else
+    {
+        std::cout << "Usage: app_scout_demo <interface>" << std::endl
+                  << "Example 1: ./app_scout_demo can0" << std::endl
+                  << "Example 2: ./app_scout_demo /dev/ttyUSB0 115200" << std::endl;
+        return -1;
+    }
+
+    HunterBase scout;
+    scout.Connect(device_name, baud_rate);
+
+    int count = 0;
+    while (true)
+    {
+        // motion control
+        if (count < 5)
+        {
+            std::cout << "Motor: 0.2, 0" << std::endl;
+            scout.SetMotionCommand(0.2, 0.0);
+        }
+        else if (count < 10)
+        {
+        std::cout << "Motor: 0.8, 0" << std::endl;
+        scout.SetMotionCommand(0.8, 0.0);
+        }
+        else if (count < 15)
+        {
+            std::cout << "Motor: 1.5, 0" << std::endl;
+            scout.SetMotionCommand(1.5, 0.0);
+        }
+        else if (count < 20)
+        {
+            std::cout << "Motor: 1.0, 0.5" << std::endl;
+            scout.SetMotionCommand(1.0, 0.5);
+        }
+        else if (count < 25)
+        {
+            std::cout << "Motor: 0.0, 0" << std::endl;
+            scout.SetMotionCommand(0.0, 0.0);
+        }
+        else if (count < 30)
+        {
+            std::cout << "Motor: -0.5, 0" << std::endl;
+            scout.SetMotionCommand(-0.5, 0.0);
+        }
+        else if (count < 35)
+        {
+            std::cout << "Motor: -1.0, -0.5" << std::endl;
+            scout.SetMotionCommand(-1.0, -0.5);
+        }
+        else if (count < 40)
+        {
+            std::cout << "Motor: 0.0, 0, Light: breath" << std::endl;
+            scout.SetMotionCommand(0.0, 0.0);
+        }
+
+        auto state = scout.GetHunterState();
+        std::cout << "-------------------------------" << std::endl;
+        std::cout << "count: " << count << std::endl;
+        std::cout << "control mode: " << static_cast<int>(state.control_mode) << " , base state: " << static_cast<int>(state.base_state) << std::endl;
+        std::cout << "battery voltage: " << state.battery_voltage << std::endl;
+        std::cout << "velocity (linear, angular): " << state.linear_velocity << ", " << state.angular_velocity << std::endl;
+        std::cout << "-------------------------------" << std::endl;
+
+        sleep(1);
+        ++count;
+    }
+
+    return 0;
+}