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fixed hunter demo print issue

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This commit is contained in:
Ruixiang Du
2021-07-19 09:40:57 +08:00
parent 8f134c8822
commit 90d34480be
5 changed files with 33029 additions and 21 deletions
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30
demo/hunter_demo/hunter_robot_demo.cpp
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@@ -13,34 +13,36 @@
#include <iostream> #include <iostream>
#include "ugv_sdk/mobile_robot/hunter_robot.hpp" #include "ugv_sdk/mobile_robot/hunter_robot.hpp"
#include "ugv_sdk/utilities/protocol_detector.hpp"
using namespace westonrobot; using namespace westonrobot;
int main(int argc, char **argv) { int main(int argc, char **argv) {
std::string protocol_version;
std::string device_name; std::string device_name;
if (argc == 3) { if (argc == 2) {
protocol_version = {argv[1]}; device_name = {argv[1]};
device_name = {argv[2]}; std::cout << "Selected interface " << device_name << std::endl;
std::cout << "Use protocol " << protocol_version << " on interface "
<< device_name << std::endl;
} else { } else {
std::cout << "Usage: app_hunter_demo <protocol-version> <interface>" std::cout << "Usage: app_hunter_demo <interface>" << std::endl
<< std::endl << "Example 1: ./app_hunter_demo can0" << std::endl;
<< "Example 1: ./app_hunter_demo v1 can0" << std::endl;
return -1; return -1;
} }
std::unique_ptr<HunterRobot> hunter; std::unique_ptr<HunterRobot> hunter;
if (protocol_version == "v1") {
ProtocolDectctor detector;
detector.Connect(device_name);
auto proto = detector.DetectProtocolVersion(5);
if (proto == ProtocolVersion::AGX_V1) {
hunter = hunter =
std::unique_ptr<HunterRobot>(new HunterRobot(ProtocolVersion::AGX_V1)); std::unique_ptr<HunterRobot>(new HunterRobot(ProtocolVersion::AGX_V1));
} else if (protocol_version == "v2") { } else if (proto == ProtocolVersion::AGX_V2) {
hunter = hunter =
std::unique_ptr<HunterRobot>(new HunterRobot(ProtocolVersion::AGX_V2)); std::unique_ptr<HunterRobot>(new HunterRobot(ProtocolVersion::AGX_V2));
} else { } else {
std::cout << "Error: invalid protocol version string" << std::endl; std::cout << "Detected protocol: UNKONWN" << std::endl;
return -1; return -1;
} }
@@ -60,7 +62,7 @@ int main(int argc, char **argv) {
while (true) { while (true) {
// motion control // motion control
std::cout << "Motor: 1.0, 0" << std::endl; std::cout << "Motor: 1.0, 0" << std::endl;
hunter->SetMotionCommand(1.0, 0.0); // hunter->SetMotionCommand(1.0, 0.0);
// get robot state // get robot state
auto state = hunter->GetRobotState(); auto state = hunter->GetRobotState();
@@ -75,7 +77,7 @@ int main(int argc, char **argv) {
<< std::endl; << std::endl;
std::cout << "velocity (linear, angular): " std::cout << "velocity (linear, angular): "
<< state.motion_state.linear_velocity << ", " << state.motion_state.linear_velocity << ", "
<< state.motion_state.angular_velocity << std::endl; << state.motion_state.steering_angle << std::endl;
auto actuator = hunter->GetActuatorState(); auto actuator = hunter->GetActuatorState();
if (hunter->GetParserProtocolVersion() == ProtocolVersion::AGX_V1) { if (hunter->GetParserProtocolVersion() == ProtocolVersion::AGX_V1) {

33001
docs/protocol_v2/HUNTER2.0用户手册_210528.pdf Normal file
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0
docs/protocol_v2/scout 2.0用户手册_210630.pdf → docs/protocol_v2/SCOUT 2.0用户手册_210630.pdf
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0
docs/protocol_v2/SCOUT mini用户手册2.0协议.pdf → docs/protocol_v2/SCOUT MINI用户手册2.0协议.pdf
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19
src/utilities/protocol_detector.cpp
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@@ -43,13 +43,18 @@ ProtocolVersion ProtocolDectctor::DetectProtocolVersion(uint32_t timeout_sec) {
}; };
void ProtocolDectctor::ParseCANFrame(can_frame *rx_frame) { void ProtocolDectctor::ParseCANFrame(can_frame *rx_frame) {
// state feedback frame with id 0x151 is unique to V1 protocol switch (rx_frame->can_id) {
if (rx_frame->can_id == 0x151) { // state feedback frame with id 0x151 is unique to V1 protocol
msg_v1_detected_ = true; case 0x151: {
} msg_v1_detected_ = true;
// rc state frame with id 0x241 is unique to V2 protocol break;
else if (rx_frame->can_id == 0x241) { }
msg_v2_detected_ = true; // rc state frame with id 0x241 is unique to V2 protocol
case 0x221:
case 0x241: {
msg_v2_detected_ = true;
break;
}
} }
} }
} // namespace westonrobot } // namespace westonrobot