saved work

src/protocol_v1/agilex_message_v1.h

@@ -1,111 +0,0 @@
-/*
- * agilex_message_v1.h
- *
- * Created on: Jul 09, 2021 20:55
- * Description:
- *  all values are using SI units (e.g. meter/second/radian)
- *
- * Re-implemented as a subset of AgxMessage defined in protocol v2
- *
- * Copyright (c) 2021 Ruixiang Du (rdu)
- */
-
-#ifndef AGILEX_MESSAGE_V1_H
-#define AGILEX_MESSAGE_V1_H
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include <stdbool.h>
-#include <stdint.h>
-#include <string.h>
-
-#include "ugv_sdk/details/interface/agilex_types.h"
-
-/***************** Control messages *****************/
-
-typedef struct {
-  ControlMode control_mode;
-  bool clear_all_error;
-  float linear;
-  float angular;
-} MotionCommandMessage;
-
-typedef struct {
-  bool enable_cmd_ctrl;
-  LightOperation front_light;
-  LightOperation rear_light;
-} LightCommandMessage;
-
-typedef struct {
-  bool set_neutral;
-} ValueSetCommandMessage;
-
-/**************** Feedback messages *****************/
-
-#define SYSTEM_ERROR_MOTOR_DRIVER_MASK ((uint16_t)0x0100)
-#define SYSTEM_ERROR_HL_COMM_MASK ((uint16_t)0x0200)
-#define SYSTEM_ERROR_BATTERY_FAULT_MASK ((uint16_t)0x0001)
-#define SYSTEM_ERROR_BATTERY_WARNING_MASK ((uint16_t)0x0002)
-#define SYSTEM_ERROR_RC_SIGNAL_LOSS_MASK ((uint16_t)0x0004)
-#define SYSTEM_ERROR_MOTOR1_COMM_MASK ((uint16_t)0x0008)
-#define SYSTEM_ERROR_MOTOR2_COMM_MASK ((uint16_t)0x0010)
-#define SYSTEM_ERROR_MOTOR3_COMM_MASK ((uint16_t)0x0020)
-#define SYSTEM_ERROR_MOTOR4_COMM_MASK ((uint16_t)0x0040)
-#define SYSTEM_ERROR_STEER_ENCODER_MASK ((uint16_t)0x0080)
-
-typedef struct {
-  VehicleState vehicle_state;
-  ControlMode control_mode;
-  float battery_voltage;
-  uint16_t error_code;
-} SystemStateMessage;
-
-typedef struct {
-  float linear_velocity;
-  float angular_velocity;
-} MotionStateMessage;
-
-typedef LightCommandMessage LightStateMessage;
-
-typedef struct {
-  float current;
-  int16_t rpm;
-  float temperature;
-} ActuatorStateMessage;
-
-//////////////////////////////////////////////////////
-
-typedef enum {
-  AgxMsgUnkonwn = 0x00,
-  // command
-  AgxMsgMotionCommand,
-  AgxMsgLightCommand,
-  AgxMsgValueSetCommand,
-  // state feedback
-  AgxMsgSystemState,
-  AgxMsgMotionState,
-  AgxMsgLightState,
-  AgxMsgActuatorState,
-} MsgType;
-
-typedef struct {
-  MsgType type;
-  union {
-    // command
-    MotionCommandMessage motion_command_msg;
-    LightCommandMessage light_command_msg;
-    // state feedback
-    SystemStateMessage system_state_msg;
-    MotionStateMessage motion_state_msg;
-    LightStateMessage light_state_msg;
-    ActuatorStateMessage actuator_state_msg;
-  } body;
-} AgxMessageV1;
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif /* AGILEX_MESSAGE_V1_H */

src/protocol_v1/agilex_msg_parser_v1.c

@@ -13,6 +13,6 @@
 #include "stdio.h"
 #include "string.h"
 
-bool DecodeCanFrameV1(const struct can_frame *rx_frame, AgxMessageV1 *msg) {}
-void EncodeCanFrameV1(const AgxMessageV1 *msg, struct can_frame *tx_frame) {}
+bool DecodeCanFrameV1(const struct can_frame *rx_frame, AgxMessage *msg) {}
+void EncodeCanFrameV1(const AgxMessage *msg, struct can_frame *tx_frame) {}
 uint8_t CalcCanFrameChecksumV1(uint16_t id, uint8_t *data, uint8_t dlc) {}

src/protocol_v1/agilex_msg_parser_v1.h

@@ -28,10 +28,10 @@ struct can_frame {
 };
 #endif
 
-#include "protocol_v1/agilex_message_v1.h"
+#include "ugv_sdk/details/interface/agilex_message.h"
 
-bool DecodeCanFrameV1(const struct can_frame *rx_frame, AgxMessageV1 *msg);
-void EncodeCanFrameV1(const AgxMessageV1 *msg, struct can_frame *tx_frame);
+bool DecodeCanFrameV1(const struct can_frame *rx_frame, AgxMessage *msg);
+void EncodeCanFrameV1(const AgxMessage *msg, struct can_frame *tx_frame);
 uint8_t CalcCanFrameChecksumV1(uint16_t id, uint8_t *data, uint8_t dlc);
 
 #ifdef __cplusplus