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Merge pull request #12 from chilatiao/next

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Added Bunker actuator state feedback, fixed an error in v1 protocol parsing (actuator feedback current)
This commit is contained in:
Du Ruixiang
2021-09-02 10:49:27 +08:00
committed by GitHub
parent 5c878914fa 4e9c952e08
commit b3490ecb01
5 changed files with 31 additions and 1 deletions
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11
include/ugv_sdk/details/interface/bunker_interface.hpp
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@@ -24,6 +24,16 @@ struct BunkerCoreState {
RcStateMessage rc_state;
};
struct BunkerActuatorState {
AgxMsgTimeStamp time_stamp;
// actuator state
ActuatorHSStateMessage actuator_hs_state[2];
ActuatorLSStateMessage actuator_ls_state[2];
// - for v1 robots only
ActuatorStateMessageV1 actuator_state[2];
};
struct BunkerInterface {
virtual ~BunkerInterface() = default;
@@ -31,6 +41,7 @@ struct BunkerInterface {
// get robot state
virtual BunkerCoreState GetRobotState() = 0;
virtual BunkerActuatorState GetActuatorState() = 0;
};
} // namespace westonrobot

13
include/ugv_sdk/details/robot_base/bunker_base.hpp
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@@ -47,6 +47,19 @@ class BunkerBase : public AgilexBase<ParserType>, public BunkerInterface {
bunker_state.rc_state = state.rc_state;
return bunker_state;
}
BunkerActuatorState GetActuatorState() override {
auto actuator = AgilexBase<ParserType>::GetActuatorStateMsgGroup();
BunkerActuatorState bunker_actuator;
bunker_actuator.time_stamp = actuator.time_stamp;
for (int i = 0; i < 3; ++i) {
bunker_actuator.actuator_hs_state[i] = actuator.actuator_hs_state[i];
bunker_actuator.actuator_ls_state[i] = actuator.actuator_ls_state[i];
bunker_actuator.actuator_state[i] = actuator.actuator_state[i];
}
return bunker_actuator;
}
};
} // namespace westonrobot

1
include/ugv_sdk/mobile_robot/bunker_robot.hpp
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@@ -33,6 +33,7 @@ class BunkerRobot : public RobotCommonInterface, public BunkerInterface {
// get robot state
BunkerCoreState GetRobotState() override;
BunkerActuatorState GetActuatorState() override;
private:
RobotCommonInterface* robot_;

5
src/mobile_robot/bunker_robot.cpp
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@@ -42,4 +42,9 @@ BunkerCoreState BunkerRobot::GetRobotState() {
auto bunker = dynamic_cast<BunkerInterface*>(robot_);
return bunker->GetRobotState();
}
BunkerActuatorState BunkerRobot::GetActuatorState() {
auto bunker = dynamic_cast<BunkerInterface*>(robot_);
return bunker->GetActuatorState();
}
} // namespace westonrobot

2
src/protocol_v1/agilex_msg_parser_v1.c
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@@ -79,7 +79,7 @@ bool DecodeCanFrameV1(const struct can_frame *rx_frame, AgxMessage *msg) {
rx_frame->can_id - CAN_MSG_ACTUATOR1_STATE_ID;
msg->body.v1_actuator_state_msg.current =
((((uint16_t)rx_frame->data[0]) << 8) | (uint16_t)rx_frame->data[1]) /
0.1f;
10.0f;
msg->body.v1_actuator_state_msg.rpm = (int16_t)((
(((uint16_t)rx_frame->data[2]) << 8) | (uint16_t)rx_frame->data[3]));
msg->body.v1_actuator_state_msg.driver_temp = rx_frame->data[4];