demo_scout_robot runs

src/mobile_robot/scout_robot.cpp

@@ -0,0 +1,53 @@
+/*
+ * scout_robot.cpp
+ *
+ * Created on: Jul 08, 2021 11:13
+ * Description:
+ *
+ * Copyright (c) 2021 Weston Robot Pte. Ltd.
+ */
+
+#include "ugv_sdk/mobile_robot/scout_robot.hpp"
+#include "ugv_sdk/details/robot_base/scout_base.hpp"
+
+namespace westonrobot {
+ScoutRobot::ScoutRobot(ProtocolType protocol) {
+  if (protocol == ProtocolType::AGX_V1) {
+    robot_ = new ScoutBaseV1();
+  } else if (protocol == ProtocolType::AGX_V2) {
+    robot_ = new ScoutBaseV2();
+  }
+}
+
+ScoutRobot::~ScoutRobot() {
+  if (robot_) delete robot_;
+}
+
+void ScoutRobot::EnableCommandedMode() { robot_->EnableCommandedMode(); }
+
+void ScoutRobot::Connect(std::string can_name) { robot_->Connect(can_name); }
+
+void ScoutRobot::Connect(std::string uart_name, uint32_t baudrate) {
+  robot_->Connect(uart_name, baudrate);
+}
+
+void ScoutRobot::ResetRobotState() { robot_->ResetRobotState(); }
+
+void ScoutRobot::SetMotionCommand(double linear_vel, double angular_vel) {
+  auto scout = dynamic_cast<ScoutInterface*>(robot_);
+  scout->SetMotionCommand(linear_vel, angular_vel);
+}
+
+void ScoutRobot::DisableLightControl() { robot_->DisableLightControl(); }
+
+void ScoutRobot::SetLightCommand(LightMode f_mode, uint8_t f_value,
+                                 LightMode r_mode, uint8_t r_value) {
+  auto scout = dynamic_cast<ScoutInterface*>(robot_);
+  scout->SetLightCommand(f_mode, f_value, r_mode, r_value);
+}
+
+ScoutState ScoutRobot::GetRobotState() {
+  auto scout = dynamic_cast<ScoutInterface*>(robot_);
+  return scout->GetRobotState();
+}
+}  // namespace westonrobot