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update missing status msg remove virtual function

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Pin Loon Lee
2021-07-14 18:39:50 +08:00
parent 89bde24d21
commit 4341d4f831
1 changed files with 11 additions and 1 deletions
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12
include/ugv_sdk/details/robot_base/agilex_base.hpp
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@@ -178,7 +178,7 @@ class AgilexBase : public RobotInterface {
if (can_connected_) can_->StopService(); if (can_connected_) can_->StopService();
} }
virtual void ParseCANFrame(can_frame *rx_frame) { void ParseCANFrame(can_frame *rx_frame) {
AgxMessage status_msg; AgxMessage status_msg;
if (parser_.DecodeMessage(rx_frame, &status_msg)) { if (parser_.DecodeMessage(rx_frame, &status_msg)) {
UpdateRobotCoreState(status_msg); UpdateRobotCoreState(status_msg);
@@ -204,6 +204,16 @@ class AgilexBase : public RobotInterface {
core_state_msgs_.light_state = status_msg.body.light_state_msg; core_state_msgs_.light_state = status_msg.body.light_state_msg;
break; 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: default:
break; break;
} }