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saved work on v1 protocol parser

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This commit is contained in:
Ruixiang Du
2021-07-13 15:04:44 +08:00
parent 6cbdebc38a
commit 8b606b7520
6 changed files with 80891 additions and 22 deletions
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4
include/ugv_sdk/details/interface/agilex_message.h
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@@ -50,6 +50,7 @@ typedef struct {
bool clear_all_error;
float linear;
float angular;
float lateral;
} MotionCommandMessageV1;
typedef struct {
@@ -133,7 +134,8 @@ typedef struct {
uint8_t motor_id;
float current;
int16_t rpm;
float temperature;
float driver_temp;
float motor_temp;
} ActuatorStateMessageV1;
/***************** Sensor messages ******************/

6
include/ugv_sdk/details/robot_base/scout_base.hpp
View File

@@ -97,6 +97,12 @@ class ScoutBase : public AgilexBase<Parser>, public ScoutInterface {
.actuator_ls_state[status_msg.body.actuator_ls_state_msg.motor_id] =
status_msg.body.actuator_ls_state_msg;
break;
}
case AgxMsgActuatorStateV1: {
// std::cout << "actuator v1 feedback received" << std::endl;
state.actuator_state[status_msg.body.v1_actuator_state_msg.motor_id] =
status_msg.body.v1_actuator_state_msg;
break;
}
// case AgxMsgRcState: {
// state.rc_state = status_msg.body.rc_state_msg;