code compiles with new structure

apps/scout_demo/scout_discharge.cpp

@@ -0,0 +1,74 @@
+/* 
+ * demo_scout_can.cpp
+ * 
+ * Created on: Jun 12, 2019 05:03
+ * Description: 
+ * 
+ * Copyright (c) 2019 Ruixiang Du (rdu)
+ */
+
+#include "scout_base/scout_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_monitor <interface>" << std::endl
+                  << "Example 1: ./app_scout_demo can0" << std::endl
+                  << "Example 2: ./app_scout_demo /dev/ttyUSB0 115200" << std::endl;
+        return -1;
+    }
+
+    ScoutBase scout;
+    scout.Connect(device_name, baud_rate);
+
+    // light control
+    std::cout << "Light: const on" << std::endl;
+    scout.SetLightCommand({ScoutLightCmd::LightMode::CONST_ON, 0, ScoutLightCmd::LightMode::CONST_ON, 0});
+
+    int count = 0;
+    while (true)
+    {
+        auto state = scout.GetScoutState();
+
+        if (state.battery_voltage >= 22.5)
+        {
+            scout.SetMotionCommand(1.35, 0);
+
+            std::cout << "-------------------------------" << std::endl;
+            std::cout << "------->  discharging <--------" << std::endl;
+            std::cout << "elapsed time: " << count / 60 << " minutes " << count % 60 << " seconds" << 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;
+        }
+        else
+        {
+            scout.SetMotionCommand(0, 0);
+            std::cout << "-------------------------------" << std::endl;
+            std::cout << "discharge stopped at: " << state.battery_voltage << " V" << std::endl;
+            std::cout << "-------------------------------" << std::endl;
+        }
+        sleep(1);
+        ++count;
+    }
+
+    return 0;
+}