added bunker robot support

src/mobile_robot/bunker_robot.cpp

@@ -0,0 +1,45 @@
+/*
+ * bunker_robot.cpp
+ *
+ * Created on: Jul 14, 2021 23:14
+ * Description:
+ *
+ * Copyright (c) 2021 Ruixiang Du (rdu)
+ */
+
+#include "ugv_sdk/mobile_robot/bunker_robot.hpp"
+#include "ugv_sdk/details/robot_base/bunker_base.hpp"
+
+namespace westonrobot {
+BunkerRobot::BunkerRobot(ProtocolVersion protocol) {
+  if (protocol == ProtocolVersion::AGX_V1) {
+    robot_ = new BunkerBaseV1();
+  } else if (protocol == ProtocolVersion::AGX_V2) {
+    robot_ = new BunkerBaseV2();
+  }
+}
+
+BunkerRobot::~BunkerRobot() {
+  if (robot_) delete robot_;
+}
+
+void BunkerRobot::EnableCommandedMode() { robot_->EnableCommandedMode(); }
+
+void BunkerRobot::Connect(std::string can_name) { robot_->Connect(can_name); }
+
+void BunkerRobot::ResetRobotState() { robot_->ResetRobotState(); }
+
+ProtocolVersion BunkerRobot::GetProtocolVersion() {
+  return robot_->GetProtocolVersion();
+}
+
+void BunkerRobot::SetMotionCommand(double linear_vel, double angular_vel) {
+  auto bunker = dynamic_cast<BunkerInterface*>(robot_);
+  bunker->SetMotionCommand(linear_vel, angular_vel);
+}
+
+BunkerCoreState BunkerRobot::GetRobotState() {
+  auto bunker = dynamic_cast<BunkerInterface*>(robot_);
+  return bunker->GetRobotState();
+}
+}  // namespace westonrobot