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code compiles with new structure

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This commit is contained in:
Ruixiang Du
2020-06-17 11:18:04 +08:00
parent 8bbca03528
commit 44b89ee5f9
4100 changed files with 292 additions and 489458 deletions
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39
tests/test_can_msg.cpp Normal file
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#include <iostream>
#include "scout_base/details/scout_can_parser.hpp"
using namespace wescore;
void print_msg(uint8_t data[8])
{
for (int i = 0; i < 8; ++i)
std::cout << std::hex << static_cast<int>(data[i]) << " ";
std::cout << std::dec << std::endl;
}
int main()
{
MotionControlMessage msg;
msg.msg.cmd.control_mode = CTRL_MODE_CMD_CAN;
msg.msg.cmd.fault_clear_flag = FAULT_CLR_NONE;
msg.msg.cmd.linear_velocity_cmd = 10;
msg.msg.cmd.angular_velocity_cmd = 0;
msg.msg.cmd.reserved0 = 0;
msg.msg.cmd.reserved1 = 0;
msg.msg.cmd.count = 0;
msg.msg.cmd.checksum = ScoutCANParser::Agilex_CANMsgChecksum(ScoutCANParser::CAN_MSG_MOTION_CONTROL_CMD_ID, msg.msg.raw, msg.len);
print_msg(msg.msg.raw);
LightControlMessage msg2;
msg2.msg.cmd.light_ctrl_enable = LIGHT_DISABLE_CTRL;
msg2.msg.cmd.front_light_mode = LIGHT_MODE_CONST_ON;
msg2.msg.cmd.front_light_custom = 0;
msg2.msg.cmd.rear_light_mode = LIGHT_MODE_CONST_ON;
msg2.msg.cmd.rear_light_custom = 0;
msg2.msg.cmd.reserved0 = 0;
msg2.msg.cmd.count = 0;
msg2.msg.cmd.checksum = ScoutCANParser::Agilex_CANMsgChecksum(ScoutCANParser::CAN_MSG_LIGHT_CONTROL_CMD_ID, msg2.msg.raw, msg2.len);
print_msg(msg2.msg.raw);
return 0;
}