updated ci, updated hunter set brake mode impl

.github/workflows/ros-ci.yml

@@ -6,9 +6,9 @@ name: ROS
 # events but only for the master branch
 on:
   push:
-    branches: [ master, v2.x ]
+    branches: [ next ]
   pull_request:
-    branches: [ master, v2.x ]
+    branches: [ next ]
 
 # A workflow run is made up of one or more jobs that can run sequentially or in parallel
 jobs:
@@ -21,11 +21,11 @@ jobs:
     steps:
     # Checks-out your repository under $GITHUB_WORKSPACE, so your job can access it
     - uses: actions/checkout@v2
-    # - name: Install dependencies
+    - name: Install dependencies
-    #   run: sudo apt-get update && sudo apt-get install -y libasio-dev
+      run: sudo apt-get update && sudo apt-get install -y libasio-dev
     - name: Create catkin workspace
       run: mkdir -p /catkin_ws/src && cd /catkin_ws/src && /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; catkin_init_workspace"
     - name: Copy code to catkin workspace
-      run: cd /catkin_ws/src && git clone https://github.com/westonrobot/async_port.git && git clone -b v2.x https://github.com/westonrobot/ugv_sdk.git
+      run: cd /catkin_ws/src && git clone -b next https://github.com/westonrobot/ugv_sdk.git
     - name: Run catkin_make
       run: cd /catkin_ws && /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; catkin_make"

.github/workflows/standalone-ci.yml

@@ -2,9 +2,9 @@ name: Cpp
 
 on:
   push:
-    branches: [ master, v2.x ]
+    branches: [ next ]
   pull_request:
-    branches: [ master, v2.x ]
+    branches: [ next ]
 
 jobs:
   build:
@@ -13,11 +13,7 @@ jobs:
 
     steps:
     - uses: actions/checkout@v2
-    # - name: Install dependencies
+    - name: Install dependencies
-    #   run: sudo apt-get install -y build-essential cmake libasio-dev
+      run: sudo apt-get install -y build-essential cmake libasio-dev
-    - name: Build and install dependent package
-      run: git clone https://github.com/westonrobot/async_port.git && cd async_port && mkdir build && cd build && cmake .. && make && sudo make install
-    - name: Update git submodule
-      run: git submodule update --init --recursive
     - name: Build and pack
       run: mkdir build && cd build && cmake -DBUILD_TESTS=ON .. && cmake --build . && cpack    

include/ugv_sdk/details/interface/hunter_interface.hpp

@@ -39,7 +39,8 @@ struct HunterInterface {
 
   virtual void SetMotionCommand(double linear_vel, double steering_angle) = 0;
 
-  virtual void SetBrakeMode(BrakeMode mode) = 0;
+  virtual void ActivateBrake() = 0;
+  virtual void ReleaseBrake() = 0;
 
   // get robot state
   virtual HunterCoreState GetRobotState() = 0;

include/ugv_sdk/details/interface/robot_common_interface.hpp

@@ -64,6 +64,8 @@ class RobotCommonInterface {
   /****** functions not available/valid to all robots ******/
   // functions to be implemented by class AgilexBase
   virtual void SetMotionMode(uint8_t mode){};
+  virtual void SetBrakedMode(BrakeMode mode){};
+
   virtual CoreStateMsgGroup GetRobotCoreStateMsgGroup() {
     throw std::runtime_error(
         "Only a derived version of this function with actual implementation "
@@ -93,8 +95,6 @@ class RobotCommonInterface {
         "Only a derived version of this function with actual implementation "
         "is supposed to be used.");
   };
-
-  virtual void EnableBrakeMode(BrakeMode mode){};
 };
 }  // namespace westonrobot
 

include/ugv_sdk/details/robot_base/agilex_base.hpp

@@ -190,6 +190,17 @@ class AgilexBase : public RobotCommonInterface {
     if (can_connected_) can_->StopService();
   }
 
+  void SetBrakeMode(BrakeMode mode) {
+    // construct message
+    AgxMessage msg;
+    msg.type = AgxMsgBrakeModeConfig;
+    msg.body.brake_mode_config_msg.mode = mode;
+
+    // encode msg to can frame and send to bus
+    can_frame frame;
+    if (parser_.EncodeMessage(&msg, &frame)) can_->SendFrame(frame);
+  }
+
   void ParseCANFrame(can_frame *rx_frame) {
     AgxMessage status_msg;
     if (parser_.DecodeMessage(rx_frame, &status_msg)) {
@@ -268,17 +279,6 @@ class AgilexBase : public RobotCommonInterface {
         break;
     }
   }
-
-  void EnableBrakedMode(BrakeMode mode) {
-    // construct message
-    AgxMessage msg;
-    msg.type = AgxMsgBrakeModeConfig;
-    msg.body.brake_mode_config_msg.mode = mode;
-
-    // encode msg to can frame and send to bus
-    can_frame frame;
-    if (parser_.EncodeMessage(&msg, &frame)) can_->SendFrame(frame);
-  }
 };
 }  // namespace westonrobot
 

include/ugv_sdk/details/robot_base/hunter_base.hpp

@@ -36,7 +36,6 @@ class HunterBase : public AgilexBase<ParserType>, public HunterInterface {
                                               angular_vel);
   }
 
-
   // get robot state
   HunterCoreState GetRobotState() override {
     auto state = AgilexBase<ParserType>::GetRobotCoreStateMsgGroup();
@@ -62,8 +61,12 @@ class HunterBase : public AgilexBase<ParserType>, public HunterInterface {
     return hunter_actuator;
   }
 
-  void SetBrakeMode(BrakeMode mode) override{
+  void ActivateBrake() override {
-    AgilexBase<ParserType>::EnableBrakeMode(mode);
+    AgilexBase<ParserType>::SetBrakeMode(BrakeMode::BRAKE_MODE_LOCK);
+  }
+
+  void ReleaseBrake() override {
+    AgilexBase<ParserType>::SetBrakeMode(BrakeMode::BRAKE_MODE_UNLOCK);
   }
 };
 }  // namespace westonrobot

include/ugv_sdk/mobile_robot/hunter_robot.hpp

@@ -25,7 +25,8 @@ class HunterRobot : public RobotCommonInterface, public HunterInterface {
 
   void EnableCommandedMode() override;
 
-  void SetBrakeMode(BrakeMode mode) override;
+  void ActivateBrake() override;
+  void ReleaseBrake() override;
 
   void SetMotionCommand(double linear_vel, double angular_vel) override;
 

src/mobile_robot/hunter_robot.cpp

@@ -38,9 +38,14 @@ void HunterRobot::SetMotionCommand(double linear_vel, double angular_vel) {
   hunter->SetMotionCommand(linear_vel, angular_vel);
 }
 
-void HunterRobot::SetBrakeMode(BrakeMode mode) {
+void HunterRobot::ActivateBrake() {
   auto hunter = dynamic_cast<HunterInterface*>(robot_);
-  hunter->SetBrakeMode(mode);
+  hunter->ActivateBrake();
+}
+
+void HunterRobot::ReleaseBrake() {
+  auto hunter = dynamic_cast<HunterInterface*>(robot_);
+  hunter->ReleaseBrake();
 }
 
 HunterCoreState HunterRobot::GetRobotState() {