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demo_scout_robot runs

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This commit is contained in:
Ruixiang Du
2021-07-09 00:06:03 +08:00
parent 44a793ef89
commit c1e530e22c
4 changed files with 69 additions and 51 deletions
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2
CMakeLists.txt
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@@ -77,7 +77,7 @@ add_library(${PROJECT_NAME}
src/async_port/async_can.cpp
########################
## public interface to access robot
src/mobile_base/scout_robot.cpp
src/mobile_robot/scout_robot.cpp
########################
## protocol v2 support
# parser

116
demo/scout_demo/scout_robot_demo.cpp
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@@ -7,72 +7,90 @@
* Copyright (c) 2021 Weston Robot Pte. Ltd.
*/
#include <unistd.h>
#include <memory>
#include <iostream>
#include "ugv_sdk/mobile_base/scout_robot.hpp"
#include "ugv_sdk/mobile_robot/scout_robot.hpp"
using namespace westonrobot;
int main(int argc, char **argv) {
std::string protocol_version;
std::string device_name;
if (argc == 2) {
device_name = {argv[1]};
std::cout << "Specified CAN: " << device_name << std::endl;
if (argc == 3) {
protocol_version = {argv[1]};
device_name = {argv[2]};
std::cout << "Use protocol " << protocol_version << " on interface "
<< device_name << std::endl;
} else {
std::cout << "Usage: app_scout_demo <interface>" << std::endl
<< "Example 1: ./app_scout_demo can0" << std::endl;
std::cout << "Usage: app_scout_demo <protocol-version> <interface>"
<< std::endl
<< "Example 1: ./app_scout_demo v1 can0" << std::endl;
return -1;
}
ScoutRobot scout(ProtocolType::AGX_V2);
// scout.Connect(device_name);
std::unique_ptr<ScoutRobot> scout;
if (protocol_version == "v1") {
scout = std::unique_ptr<ScoutRobot>(new ScoutRobot(ProtocolType::AGX_V1));
} else if (protocol_version == "v2") {
scout = std::unique_ptr<ScoutRobot>(new ScoutRobot(ProtocolType::AGX_V2));
} else {
std::cout << "Error: invalid protocol version string" << std::endl;
return -1;
}
// scout.EnableCommandedMode();
if (scout == nullptr)
std::cout << "Failed to create robot object" << std::endl;
// // // 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 90-80" << std::endl;
// scout.SetLightCommand({CUSTOM, 90, CUSTOM, 80});
// sleep(3);
// std::cout << "Light: diabled cmd control" << std::endl;
// scout.DisableLightControl();
scout->Connect(device_name);
scout->EnableCommandedMode();
// int count = 0;
// while (true) {
// // motion control
// if (count < 100) {
// std::cout << "Motor: 0.2, 0" << std::endl;
// scout.SetMotionCommand(0.2, 0.0);
// }
// 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 90-80" << std::endl;
scout->SetLightCommand(CUSTOM, 90, CUSTOM, 80);
sleep(3);
std::cout << "Light: diabled cmd control" << std::endl;
scout->DisableLightControl();
// // get robot state
// auto state = scout.GetScoutState();
// 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)
// << std::endl;
// std::cout << "battery voltage: " << state.system_state.battery_voltage
// << std::endl;
// std::cout << "velocity (linear, angular): "
// << state.motion_state.linear_velocity << ", "
// << state.motion_state.angular_velocity << std::endl;
// std::cout << "-------------------------------" << std::endl;
int count = 0;
while (true) {
// motion control
if (count < 100) {
std::cout << "Motor: 0.2, 0" << std::endl;
scout->SetMotionCommand(0.2, 0.0);
}
// usleep(20000);
// ++count;
// }
// 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)
<< std::endl;
std::cout << "battery voltage: " << state.system_state.battery_voltage
<< std::endl;
std::cout << "velocity (linear, angular): "
<< state.motion_state.linear_velocity << ", "
<< state.motion_state.angular_velocity << std::endl;
std::cout << "-------------------------------" << std::endl;
usleep(20000);
++count;
}
return 0;
}

0
include/ugv_sdk/mobile_base/scout_robot.hpp → include/ugv_sdk/mobile_robot/scout_robot.hpp
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2
src/mobile_base/scout_robot.cpp → src/mobile_robot/scout_robot.cpp
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@@ -7,7 +7,7 @@
* Copyright (c) 2021 Weston Robot Pte. Ltd.
*/
#include "ugv_sdk/mobile_base/scout_robot.hpp"
#include "ugv_sdk/mobile_robot/scout_robot.hpp"
#include "ugv_sdk/details/robot_base/scout_base.hpp"
namespace westonrobot {