Merge pull request #12 from chilatiao/next

Added Bunker actuator state feedback, fixed an error in v1 protocol parsing (actuator feedback current)

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
 

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
 

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_;

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

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];