added hunter support

demo/CMakeLists.txt

@@ -3,12 +3,4 @@ add_subdirectory(scout_demo)
 add_subdirectory(tracer_demo)
 add_subdirectory(ranger_demo)
 add_subdirectory(bunker_demo)
-
-# add_executable(app_hunter_demo hunter_demo/hunter_demo.cpp)
-# target_link_libraries(app_hunter_demo ugv_sdk)
-
-# add_executable(app_tracer_demo tracer_demo/tracer_demo.cpp)
-# target_link_libraries(app_tracer_demo ugv_sdk)
-
-# add_executable(app_ranger_demo ranger_demo/ranger_demo.cpp)
-# target_link_libraries(app_ranger_demo ugv_sdk)
+add_subdirectory(hunter_demo)

demo/hunter_demo/CMakeLists.txt

@@ -0,0 +1,3 @@
+# tests
+add_executable(demo_hunter_robot hunter_robot_demo.cpp)
+target_link_libraries(demo_hunter_robot ugv_sdk)

demo/hunter_demo/hunter_robot_demo.cpp

@@ -0,0 +1,99 @@
+/*
+ * hunter_robot_demo.cpp
+ *
+ * Created on: Jul 08, 2021 11:12
+ * Description:
+ *
+ * Copyright (c) 2021 Weston Robot Pte. Ltd.
+ */
+
+#include <unistd.h>
+
+#include <memory>
+#include <iostream>
+
+#include "ugv_sdk/mobile_robot/hunter_robot.hpp"
+
+using namespace westonrobot;
+
+int main(int argc, char **argv) {
+  std::string protocol_version;
+  std::string device_name;
+
+  if (argc == 3) {
+    protocol_version = {argv[1]};
+    device_name = {argv[2]};
+    std::cout << "Use protocol " << protocol_version << " on interface "
+              << device_name << std::endl;
+  } else {
+    std::cout << "Usage: app_hunter_demo <protocol-version> <interface>"
+              << std::endl
+              << "Example 1: ./app_hunter_demo v1 can0" << std::endl;
+    return -1;
+  }
+
+  std::unique_ptr<HunterRobot> hunter;
+  if (protocol_version == "v1") {
+    hunter =
+        std::unique_ptr<HunterRobot>(new HunterRobot(ProtocolVersion::AGX_V1));
+  } else if (protocol_version == "v2") {
+    hunter =
+        std::unique_ptr<HunterRobot>(new HunterRobot(ProtocolVersion::AGX_V2));
+  } else {
+    std::cout << "Error: invalid protocol version string" << std::endl;
+    return -1;
+  }
+
+  if (hunter == nullptr)
+    std::cout << "Failed to create robot object" << std::endl;
+
+  hunter->Connect(device_name);
+
+  if (hunter->GetProtocolVersion() == ProtocolVersion::AGX_V2) {
+    hunter->EnableCommandedMode();
+    std::cout << "Protocol version 2" << std::endl;
+  } else {
+    std::cout << "Protocol version 1" << std::endl;
+  }
+
+  int count = 0;
+  while (true) {
+    // motion control
+    std::cout << "Motor: 1.0, 0" << std::endl;
+    hunter->SetMotionCommand(1.0, 0.0);
+
+    // get robot state
+    auto state = hunter->GetRobotState();
+    std::cout << "-------------------------------" << std::endl;
+    std::cout << "count: " << count << std::endl;
+    std::cout << "control mode: "
+              << static_cast<int>(state.system_state.control_mode)
+              << " , vehicle state: "
+              << static_cast<int>(state.system_state.vehicle_state)
+              << " , error code: " << std::hex << state.system_state.error_code
+              << ", battery voltage: " << state.system_state.battery_voltage
+              << std::endl;
+    std::cout << "velocity (linear, angular): "
+              << state.motion_state.linear_velocity << ", "
+              << state.motion_state.angular_velocity << std::endl;
+
+    auto actuator = hunter->GetActuatorState();
+    if (hunter->GetProtocolVersion() == ProtocolVersion::AGX_V1) {
+      for (int i = 0; i < 3; ++i) {
+        printf("motor %d: current %f, rpm %d, driver temp %f, motor temp %f\n",
+               actuator.actuator_state[i].motor_id,
+               actuator.actuator_state[i].current,
+               actuator.actuator_state[i].rpm,
+               actuator.actuator_state[i].driver_temp,
+               actuator.actuator_state[i].motor_temp);
+      }
+    } else {
+    }
+    std::cout << "-------------------------------" << std::endl;
+
+    usleep(20000);
+    ++count;
+  }
+
+  return 0;
+}