From 7559ea0ce9449cf34829c0810459bed3b33ead48 Mon Sep 17 00:00:00 2001
From: zhoups <1013700083@qq.com>
Date: Wed, 25 Aug 2021 16:36:30 +0800
Subject: [PATCH 1/2] fixed current feedback bug in version 1

---
 src/protocol_v1/agilex_msg_parser_v1.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/protocol_v1/agilex_msg_parser_v1.c b/src/protocol_v1/agilex_msg_parser_v1.c
index 24abdcd..e05c000 100644
--- a/src/protocol_v1/agilex_msg_parser_v1.c
+++ b/src/protocol_v1/agilex_msg_parser_v1.c
@@ -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];

From 4e9c952e087a66b242dd7487a41559a0cd14237c Mon Sep 17 00:00:00 2001
From: zhoups <1013700083@qq.com>
Date: Thu, 26 Aug 2021 16:33:36 +0800
Subject: [PATCH 2/2] add bunker Actuator feedback function

---
 .../ugv_sdk/details/interface/bunker_interface.hpp  | 11 +++++++++++
 include/ugv_sdk/details/robot_base/bunker_base.hpp  | 13 +++++++++++++
 include/ugv_sdk/mobile_robot/bunker_robot.hpp       |  1 +
 src/mobile_robot/bunker_robot.cpp                   |  5 +++++
 4 files changed, 30 insertions(+)

diff --git a/include/ugv_sdk/details/interface/bunker_interface.hpp b/include/ugv_sdk/details/interface/bunker_interface.hpp
index 57c12d5..f064c06 100644
--- a/include/ugv_sdk/details/interface/bunker_interface.hpp
+++ b/include/ugv_sdk/details/interface/bunker_interface.hpp
@@ -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
 
diff --git a/include/ugv_sdk/details/robot_base/bunker_base.hpp b/include/ugv_sdk/details/robot_base/bunker_base.hpp
index 16427c3..4d92f20 100644
--- a/include/ugv_sdk/details/robot_base/bunker_base.hpp
+++ b/include/ugv_sdk/details/robot_base/bunker_base.hpp
@@ -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
 
diff --git a/include/ugv_sdk/mobile_robot/bunker_robot.hpp b/include/ugv_sdk/mobile_robot/bunker_robot.hpp
index 8c437fb..2f189c7 100644
--- a/include/ugv_sdk/mobile_robot/bunker_robot.hpp
+++ b/include/ugv_sdk/mobile_robot/bunker_robot.hpp
@@ -33,6 +33,7 @@ class BunkerRobot : public RobotCommonInterface, public BunkerInterface {
 
   // get robot state
   BunkerCoreState GetRobotState() override;
+  BunkerActuatorState GetActuatorState() override;
 
  private:
   RobotCommonInterface* robot_;
diff --git a/src/mobile_robot/bunker_robot.cpp b/src/mobile_robot/bunker_robot.cpp
index 2c03c11..481cb9a 100644
--- a/src/mobile_robot/bunker_robot.cpp
+++ b/src/mobile_robot/bunker_robot.cpp
@@ -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
\ No newline at end of file