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delete tracer_base.cpp

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Pin Loon Lee
2021-07-14 18:39:07 +08:00
parent 0d99c56f95
commit 89bde24d21
1 changed files with 0 additions and 91 deletions
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91
include/ugv_sdk/details/robot_base/tracer_base.cpp
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@@ -1,91 +0,0 @@
#include "ugv_sdk/protocol_v2/tracer_base.hpp"
#include <string>
#include <cstring>
#include <iostream>
#include <algorithm>
#include <array>
#include <chrono>
#include <cstdint>
#include <ratio>
#include <thread>
#include "stopwatch.hpp"
#include "ugv_sdk/protocol_v2/agilex_msg_parser.h"
namespace westonrobot {
void TracerBaseV2::Connect(std::string dev_name) {
AgilexBase::ConnectPort(dev_name, std::bind(&TracerBaseV2::ParseCANFrame, this,
std::placeholders::_1));
}
void TracerBaseV2::Connect(std::string uart_name, uint32_t baudrate) {
// TODO
}
void TracerBaseV2::SetMotionCommand(double linear_vel, double angular_vel) {
AgilexBase::SetMotionCommand(linear_vel, angular_vel, 0.0, 0.0);
}
void TracerBaseV2::SetLightCommand(const TracerLightCmd &cmd) {
if (cmd.enable_cmd_ctrl) {
AgilexBase::SendLightCommand(cmd.front_mode, cmd.front_custom_value,
LightMode::CONST_OFF, 0);
}
}
TracerState TracerBaseV2::GetTracerState() {
std::lock_guard<std::mutex> guard(state_mutex_);
return tracer_state_;
}
void TracerBaseV2::ParseCANFrame(can_frame *rx_frame) {
AgxMessage status_msg;
DecodeCanFrameV2(rx_frame, &status_msg);
std::lock_guard<std::mutex> guard(state_mutex_);
UpdateTracerState(status_msg, tracer_state_);
}
void TracerBaseV2::UpdateTracerState(const AgxMessage &status_msg,
TracerState &state) {
switch (status_msg.type) {
case AgxMsgSystemState: {
// std::cout << "system status feedback received" << std::endl;
state.system_state = status_msg.body.system_state_msg;
break;
}
case AgxMsgMotionState: {
// std::cout << "motion control feedback received" << std::endl;
state.motion_state = status_msg.body.motion_state_msg;
break;
}
case AgxMsgLightState: {
// std::cout << "light control feedback received" << std::endl;
state.light_state = status_msg.body.light_state_msg;
break;
}
case AgxMsgRcState: {
state.rc_state = status_msg.body.rc_state_msg;
break;
}
case AgxMsgActuatorHSState: {
// std::cout << "actuator hs feedback received" << std::endl;
state.actuator_hs_state[status_msg.body.actuator_hs_state_msg.motor_id] =
status_msg.body.actuator_hs_state_msg;
break;
}
case AgxMsgActuatorLSState: {
// std::cout << "actuator ls feedback received" << std::endl;
state.actuator_ls_state[status_msg.body.actuator_ls_state_msg.motor_id] =
status_msg.body.actuator_ls_state_msg;
break;
}
/* sensor feedback */
case AgxMsgOdometry: {
// std::cout << "Odometer msg feedback received" << std::endl;
state.odometry = status_msg.body.odometry_msg;
}
}
}
} // namespace westonrobot