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This commit is contained in:
Ruixiang Du
2021-07-12 19:02:41 +08:00
parent 10d9fc734e
commit 6cbdebc38a
14 changed files with 337 additions and 93 deletions
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11
include/ugv_sdk/details/interface/agilex_message.h
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@@ -42,7 +42,7 @@ typedef struct {
typedef struct {
uint8_t motion_mode;
} MotionModeMessage;
} MotionModeCommandMessage;
// V1-only messages
typedef struct {
@@ -56,6 +56,8 @@ typedef struct {
bool set_neutral;
} ValueSetCommandMessageV1;
typedef ValueSetCommandMessageV1 ValueSetStateMessageV1;
/**************** Feedback messages *****************/
#define SYSTEM_ERROR_MOTOR_DRIVER_MASK ((uint16_t)0x0100)
@@ -128,6 +130,7 @@ typedef struct {
// V1-only messages
typedef struct {
uint8_t motor_id;
float current;
int16_t rpm;
float temperature;
@@ -263,7 +266,7 @@ typedef enum {
AgxMsgMotionCommand,
AgxMsgLightCommand,
AgxMsgBrakingCommand,
AgxMsgSetMotionMode,
AgxMsgSetMotionModeCommand,
// state feedback
AgxMsgSystemState,
AgxMsgMotionState,
@@ -292,6 +295,7 @@ typedef enum {
// V1-only messages
AgxMsgMotionCommandV1,
AgxMsgValueSetCommandV1,
AgxMsgValueSetStateV1,
AgxMsgActuatorStateV1
} MsgType;
@@ -302,7 +306,7 @@ typedef struct {
MotionCommandMessage motion_command_msg;
LightCommandMessage light_command_msg;
BrakingCommandMessage braking_command_msg;
MotionModeMessage motion_mode_msg;
MotionModeCommandMessage motion_mode_msg;
// state feedback
SystemStateMessage system_state_msg;
MotionStateMessage motion_state_msg;
@@ -331,6 +335,7 @@ typedef struct {
// V1-only messages
MotionCommandMessageV1 v1_motion_command_msg;
ValueSetCommandMessageV1 v1_value_set_command_msg;
ValueSetStateMessageV1 v1_value_set_state_msg;
ActuatorStateMessageV1 v1_actuator_state_msg;
} body;
} AgxMessage;