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created mobile base class

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This commit is contained in:
Ruixiang Du
2020-06-17 12:28:33 +08:00
parent 2b9f7cc616
commit 741c521863
3 changed files with 23 additions and 317 deletions
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40
include/wrp_sdk/platforms/common/mobile_base.hpp
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@@ -43,53 +43,31 @@ class MobileBase {
cmd_thread_period_ms_ = period_ms;
};
// motion control
void SetMotionCommand(double linear_vel, double steering_angle,
HunterMotionCmd::FaultClearFlag fault_clr_flag =
HunterMotionCmd::FaultClearFlag::NO_FAULT);
// get robot state
HunterState GetHunterState();
protected:
// hardware communication interface
std::shared_ptr<ASyncCAN> can_if_;
std::shared_ptr<ASyncSerial> serial_if_;
// CAN priority higher than serial if both connected
// communication interface
bool can_connected_ = false;
bool serial_connected_ = false;
// serial port related variables
uint8_t tx_cmd_len_;
uint8_t tx_buffer_[HUNTER_CMD_BUF_LEN];
std::shared_ptr<ASyncCAN> can_if_;
std::shared_ptr<ASyncSerial> serial_if_;
// cmd/status update related variables
// command thread
std::thread cmd_thread_;
std::mutex hunter_state_mutex_;
std::mutex motion_cmd_mutex_;
HunterState hunter_state_;
HunterMotionCmd current_motion_cmd_;
int32_t cmd_thread_period_ms_ = 10;
bool cmd_thread_started_ = false;
// internal functions
void ConfigureCANBus(const std::string &can_if_name = "can1");
void ConfigureCAN(const std::string &can_if_name = "can0");
void ConfigureSerial(const std::string uart_name = "/dev/ttyUSB0",
int32_t baud_rate = 115200);
void StartCmdThread();
void ControlLoop(int32_t period_ms);
void SendMotionCmd(uint8_t count);
void ParseCANFrame(can_frame *rx_frame);
void ParseUARTBuffer(uint8_t *buf, const size_t bufsize,
size_t bytes_received);
void NewStatusMsgReceivedCallback(const HunterMessage &msg);
virtual void SendRobotCmd() = 0;
virtual void ParseCANFrame(can_frame *rx_frame) = 0;
virtual void ParseUARTBuffer(uint8_t *buf, const size_t bufsize,
size_t bytes_received) = 0;
};
} // namespace westonrobot