From 4341d4f8314fee977f4a774f2a40727018d30612 Mon Sep 17 00:00:00 2001 From: Pin Loon Lee Date: Wed, 14 Jul 2021 18:39:50 +0800 Subject: [PATCH] update missing status msg remove virtual function --- include/ugv_sdk/details/robot_base/agilex_base.hpp | 12 +++++++++++- 1 file changed, 11 insertions(+), 1 deletion(-) diff --git a/include/ugv_sdk/details/robot_base/agilex_base.hpp b/include/ugv_sdk/details/robot_base/agilex_base.hpp index b1283d8..0be064f 100644 --- a/include/ugv_sdk/details/robot_base/agilex_base.hpp +++ b/include/ugv_sdk/details/robot_base/agilex_base.hpp @@ -178,7 +178,7 @@ class AgilexBase : public RobotInterface { if (can_connected_) can_->StopService(); } - virtual void ParseCANFrame(can_frame *rx_frame) { + void ParseCANFrame(can_frame *rx_frame) { AgxMessage status_msg; if (parser_.DecodeMessage(rx_frame, &status_msg)) { UpdateRobotCoreState(status_msg); @@ -204,6 +204,16 @@ class AgilexBase : public RobotInterface { core_state_msgs_.light_state = status_msg.body.light_state_msg; break; } + case AgxMsgMotionModeState: { + // std::cout << "motion mode feedback received" << std::endl; + core_state_msgs_.motion_mode_state = status_msg.body.motion_mode_state_msg; + break; + } + case AgxMsgRcState: { + // std::cout << "rc feedback received" << std::endl; + core_state_msgs_.rc_state = status_msg.body.rc_state_msg; + break; + } default: break; }