demo: renamed demo folder to sample, updated readme

2023-04-08 06:32:14 +08:00 · 2023-03-31 09:55:40 +08:00
parent 4f8c9ac1cb
commit ac2c92e6d9
16 changed files with 11 additions and 4 deletions
--- a/sample/scout_demo/scout_mini_omni_demo.cpp
+++ b/sample/scout_demo/scout_mini_omni_demo.cpp
@@ -0,0 +1,140 @@
+/*
+ * scout_robot_demo.cpp
+ *
+ * Created on: Jul 08, 2021 11:12
+ * Description:
+ *
+ * Copyright (c) 2021 Weston Robot Pte. Ltd.
+ */
+
+#include <unistd.h>
+
+#include <memory>
+#include <iostream>
+
+#include "ugv_sdk/mobile_robot/scout_robot.hpp"
+#include "ugv_sdk/utilities/protocol_detector.hpp"
+
+using namespace westonrobot;
+
+int main(int argc, char **argv) {
+  std::string device_name;
+
+  if (argc == 2) {
+    device_name = {argv[1]};
+    std::cout << "Selected interface " << device_name << std::endl;
+  } else {
+    std::cout << "Usage: demo_scout_mini_omni_robot <interface>" << std::endl
+              << "Example 1: ./demo_scout_mini_omni_robot can0" << std::endl;
+    return -1;
+  }
+
+  std::unique_ptr<ScoutMiniOmniRobot> scout;
+
+  ProtocolDetector detector;
+  detector.Connect(device_name);
+  auto proto = detector.DetectProtocolVersion(5);
+  if (proto == ProtocolVersion::AGX_V1) {
+    std::cout << "Detected protocol: AGX_V1" << std::endl;
+    scout = std::unique_ptr<ScoutMiniOmniRobot>(
+        new ScoutMiniOmniRobot(ProtocolVersion::AGX_V1));
+
+  } else if (proto == ProtocolVersion::AGX_V2) {
+    std::cout << "Detected protocol: AGX_V2" << std::endl;
+    scout = std::unique_ptr<ScoutMiniOmniRobot>(
+        new ScoutMiniOmniRobot(ProtocolVersion::AGX_V2));
+  } else {
+    std::cout << "Detected protocol: UNKONWN" << std::endl;
+    return -1;
+  }
+
+  if (scout == nullptr)
+    std::cout << "Failed to create robot object" << std::endl;
+
+  scout->Connect(device_name);
+
+  if (scout->GetParserProtocolVersion() == ProtocolVersion::AGX_V2) {
+    scout->EnableCommandedMode();
+  }
+
+  // light control
+  std::cout << "Light: const off" << std::endl;
+  scout->SetLightCommand(CONST_OFF, 0, CONST_OFF, 0);
+  sleep(3);
+  std::cout << "Light: const on" << std::endl;
+  scout->SetLightCommand(CONST_ON, 0, CONST_ON, 0);
+  sleep(3);
+  std::cout << "Light: breath" << std::endl;
+  scout->SetLightCommand(BREATH, 0, BREATH, 0);
+  sleep(3);
+  std::cout << "Light: custom 30-40" << std::endl;
+  scout->SetLightCommand(CUSTOM, 30, CUSTOM, 40);
+  sleep(3);
+  scout->SetLightCommand(CONST_OFF, 0, CONST_OFF, 0);
+
+  int count = 0;
+  while (true) {
+    // motion control
+    std::cout << "Setting motion command: 0.0, 0,0, 0.8" << std::endl;
+    scout->SetMotionCommand(0.0, 0.3, 0.0);
+
+    // get robot state
+    auto state = scout->GetRobotState();
+    std::cout << "-------------------------------" << std::endl;
+    std::cout << "count: " << count << std::endl;
+    std::cout << "control mode: "
+              << static_cast<int>(state.system_state.control_mode)
+              << " , vehicle state: "
+              << static_cast<int>(state.system_state.vehicle_state)
+              << " , error code: " << std::hex << state.system_state.error_code
+              << std::dec
+              << ", battery voltage: " << state.system_state.battery_voltage
+              << std::endl;
+    std::cout << "velocity (linear, angular, lateral): "
+              << state.motion_state.linear_velocity << ", "
+              << state.motion_state.angular_velocity << ", "
+              << state.motion_state.lateral_velocity << std::endl;
+    std::cout << "core state age (ms): "
+              << std::chrono::duration_cast<std::chrono::milliseconds>(
+                     AgxMsgRefClock::now() - state.time_stamp)
+                     .count()
+              << std::endl;
+
+    auto actuator = scout->GetActuatorState();
+    if (scout->GetParserProtocolVersion() == ProtocolVersion::AGX_V1) {
+      for (int i = 0; i < 4; ++i) {
+        printf("motor %d: current %f, rpm %d, driver temp %f, motor temp %f\n",
+               actuator.actuator_state[i].motor_id,
+               actuator.actuator_state[i].current,
+               actuator.actuator_state[i].rpm,
+               actuator.actuator_state[i].driver_temp,
+               actuator.actuator_state[i].motor_temp);
+      }
+      std::cout << "actuator state age (ms): "
+                << std::chrono::duration_cast<std::chrono::milliseconds>(
+                       AgxMsgRefClock::now() - actuator.time_stamp)
+                       .count()
+                << std::endl;
+    } else {
+      for (int i = 0; i < 4; ++i) {
+        printf("motor %d: current %f, rpm %d, driver temp %f, motor temp %f\n",
+               actuator.actuator_hs_state[i].motor_id,
+               actuator.actuator_hs_state[i].current,
+               actuator.actuator_hs_state[i].rpm,
+               actuator.actuator_ls_state[i].driver_temp,
+               actuator.actuator_ls_state[i].motor_temp);
+      }
+      std::cout << "actuator state age (ms): "
+                << std::chrono::duration_cast<std::chrono::milliseconds>(
+                       AgxMsgRefClock::now() - actuator.time_stamp)
+                       .count()
+                << std::endl;
+    }
+    std::cout << "-------------------------------" << std::endl;
+
+    usleep(20000);
+    ++count;
+  }
+
+  return 0;
+}