saved work

demo/CMakeLists.txt

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+# demo
+add_subdirectory(scout_demo)
+
+# add_executable(app_hunter_demo hunter_demo/hunter_demo.cpp)
+# target_link_libraries(app_hunter_demo ugv_sdk)
+
+# add_executable(app_tracer_demo tracer_demo/tracer_demo.cpp)
+# target_link_libraries(app_tracer_demo ugv_sdk)
+
+# add_executable(app_ranger_demo ranger_demo/ranger_demo.cpp)
+# target_link_libraries(app_ranger_demo ugv_sdk)

demo/hunter_demo/hunter_demo.cpp

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+/* 
+ * demo_hunter_can.cpp
+ * 
+ * Created on: Jun 12, 2019 05:03
+ * Description: 
+ * 
+ * Copyright (c) 2019 Ruixiang Du (rdu)
+ */
+
+#include "ugv_sdk/hunter_base.hpp"
+
+using namespace westonrobot;
+
+int main(int argc, char **argv)
+{
+    std::string device_name;
+    int32_t baud_rate = 0;
+
+    if (argc == 2)
+    {
+        device_name = {argv[1]};
+        std::cout << "Specified CAN: " << device_name << std::endl;
+    }
+    else
+    {
+        std::cout << "Usage: app_hunter_demo <interface>" << std::endl
+                  << "Example 1: ./app_hunter_demo can0" << std::endl;
+        return -1;
+    }
+
+    HunterBase hunter;
+    hunter.Connect(device_name);
+
+    int count = 0;
+    while (true)
+    {
+        // motion control
+        if (count < 5)
+        {
+            std::cout << "Motor: 0.2, 0.0" << std::endl;
+            hunter.SetMotionCommand(0.2, 0.0);
+        }
+        else if (count < 10)
+        {
+        std::cout << "Motor: 0.8, 0.3" << std::endl;
+        hunter.SetMotionCommand(0.8, 0.3);
+        }
+        else if (count < 15)
+        {
+            std::cout << "Motor: 1.5, 0.5" << std::endl;
+            hunter.SetMotionCommand(1.5, 0.5);
+        }
+        else if (count < 20)
+        {
+            std::cout << "Motor: 1.0, 0.3" << std::endl;
+            hunter.SetMotionCommand(1.0, 0.3);
+        }
+        else if (count < 25)
+        {
+            std::cout << "Motor: 0.0, 0.0" << std::endl;
+            hunter.SetMotionCommand(0.0, 0.0);
+        }
+        else if (count < 30)
+        {
+            std::cout << "Motor: -0.5, -0.3" << std::endl;
+            hunter.SetMotionCommand(-0.5, -0.3);
+        }
+        else if (count < 35)
+        {
+            std::cout << "Motor: -1.0, -0.5" << std::endl;
+            hunter.SetMotionCommand(-1.0, -0.5);
+        }
+        else if (count < 40)
+        {
+            std::cout << "Motor: 0.0, 0.0," << std::endl;
+            hunter.SetMotionCommand(0.0, 0.0);
+        }
+
+        auto state = hunter.GetHunterState();
+        std::cout << "-------------------------------" << std::endl;
+        std::cout << "count: " << count << std::endl;
+        std::cout << "control mode: " << static_cast<int>(state.control_mode) << " , base state: " << static_cast<int>(state.base_state) << std::endl;
+        std::cout << "battery voltage: " << state.battery_voltage << std::endl;
+        std::cout << "velocity (linear, angular): " << state.linear_velocity << ", " << state.steering_angle << std::endl;
+        std::cout << "-------------------------------" << std::endl;
+
+        sleep(1);
+        ++count;
+    }
+
+    return 0;
+}

demo/ranger_demo/ranger_demo.cpp

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+/**
+ * @Kit       : Qt-Creator: Desktop
+ * @Author    : Wang Zhe
+ * @Date      : 2021-04-19  19:41:52
+ * @FileName  : ranger_demo.cpp
+ * @Mail      : wangzheqie@qq.com
+ * Copyright  : AgileX Robotics
+ **/
+
+#include "ugv_sdk/protocol_v2/ranger_base.hpp"
+
+using namespace westonrobot;
+
+int main(int argc, char *argv[]) {
+  std::string device_name;
+
+  if (argc == 2) {
+    device_name = {argv[1]};
+    std::cout << "Specified CAN: " << device_name << std::endl;
+  } else {
+    std::cout << "Usage: app_ranger_demo <interface>" << std::endl
+              << "Example 1: ./app_ranger_demo can0" << std::endl;
+    return -1;
+  }
+
+  RangerBase ranger;
+  ranger.Connect(device_name);
+
+  ranger.EnableCommandedMode();
+
+  int count = 0;
+  while (true) {
+    if (count < 100) {
+      std::cout << "Motor: 0.2, 0" << std::endl;
+      ranger.SetMotionCommand(0.2, 0.0);
+    }
+
+    auto state = ranger.GetRangerState();
+    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;
+}

demo/scout_demo/CMakeLists.txt

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+# tests
+add_executable(demo_scout_v2 scout_v2_demo.cpp)
+target_link_libraries(demo_scout_v2 ugv_sdk)
+
+# add_executable(demo_scout_robot scout_robot_demo.cpp)
+# target_link_libraries(demo_scout_robot ugv_sdk)

demo/scout_demo/scout_robot_demo.cpp

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+/*
+ * scout_robot_demo.cpp
+ *
+ * Created on: Jul 08, 2021 11:12
+ * Description:
+ *
+ * Copyright (c) 2021 Weston Robot Pte. Ltd.
+ */
+
+#include <iostream>
+
+#include "ugv_sdk/mobile_base/scout_robot.hpp"
+
+using namespace westonrobot;
+
+int main(int argc, char **argv) {
+  std::string device_name;
+
+  if (argc == 2) {
+    device_name = {argv[1]};
+    std::cout << "Specified CAN: " << device_name << std::endl;
+  } else {
+    std::cout << "Usage: app_scout_demo <interface>" << std::endl
+              << "Example 1: ./app_scout_demo can0" << std::endl;
+    return -1;
+  }
+
+  ScoutRobot scout(AgilexProtocol::V1);
+//   scout.Connect(device_name);
+
+//   scout.EnableCommandedMode();
+
+//   //   // 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();
+
+//   int count = 0;
+//   while (true) {
+//     // motion control
+//     if (count < 100) {
+//       std::cout << "Motor: 0.2, 0" << std::endl;
+//       scout.SetMotionCommand(0.2, 0.0);
+//     }
+
+//     // 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;
+
+//     usleep(20000);
+//     ++count;
+//   }
+
+  return 0;
+}

demo/scout_demo/scout_v2_demo.cpp

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+/*
+ * demo_scout_can.cpp
+ *
+ * Created on: Jun 12, 2019 05:03
+ * Description:
+ *
+ * Copyright (c) 2019 Ruixiang Du (rdu)
+ */
+
+#include "ugv_sdk/protocol_v2/scout_base_v2.hpp"
+
+using namespace westonrobot;
+
+int main(int argc, char **argv) {
+  std::string device_name;
+
+  if (argc == 2) {
+    device_name = {argv[1]};
+    std::cout << "Specified CAN: " << device_name << std::endl;
+  } else {
+    std::cout << "Usage: app_scout_demo <interface>" << std::endl
+              << "Example 1: ./app_scout_demo can0" << std::endl;
+    return -1;
+  }
+
+  ScoutBase scout;
+  scout.Connect(device_name);
+
+  scout.EnableCommandedMode();
+
+  //   // 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();
+
+  int count = 0;
+  while (true) {
+    // motion control
+    if (count < 500) {
+      std::cout << "Motor: 0.2, 0" << std::endl;
+      scout.SetMotionCommand(0.2, 0.0);
+    }
+
+    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;
+}

demo/tracer_demo/tracer_demo.cpp

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+/*
+ * demo_tracer_can.cpp
+ *
+ * Created on: Jun 12, 2019 05:03
+ * Description:
+ *
+ * Copyright (c) 2019 Ruixiang Du (rdu)
+ */
+
+#include "ugv_sdk/protocol_v2/tracer_base.hpp"
+
+using namespace westonrobot;
+
+int main(int argc, char **argv) {
+  std::string device_name;
+
+  if (argc == 2) {
+    device_name = {argv[1]};
+    std::cout << "Specified CAN: " << device_name << std::endl;
+  } else {
+    std::cout << "Usage: app_tracer_demo <interface>" << std::endl
+              << "Example 1: ./app_tracer_demo can0" << std::endl;
+    return -1;
+  }
+
+  TracerBase tracer;
+  tracer.Connect(device_name);
+
+  tracer.EnableCommandedMode();
+  //   tracer.DisableTimeout();
+
+  // light control
+  std::cout << "Light: const off" << std::endl;
+  tracer.SetLightCommand({CONST_OFF, 0});
+  //   usleep(50000);
+  sleep(3);
+  std::cout << "Light: const on" << std::endl;
+  tracer.SetLightCommand({CONST_ON, 0});
+  //   usleep(50000);
+  sleep(3);
+  std::cout << "Light: breath" << std::endl;
+  tracer.SetLightCommand({BREATH, 0});
+  //   usleep(50000);
+  sleep(8);
+  std::cout << "Light: custom 90-80" << std::endl;
+  tracer.SetLightCommand({CUSTOM, 90});
+  //   usleep(50000);
+  sleep(3);
+  std::cout << "Light: diabled cmd control" << std::endl;
+  tracer.SetLightCommand(TracerLightCmd());
+
+  int count = 0;
+  while (true) {
+    // motion control
+    if (count < 5) {
+      std::cout << "Motor: 0.2, 0.0" << std::endl;
+      tracer.SetMotionCommand(0.2, 0.0);
+    } else if (count < 10) {
+      std::cout << "Motor: 0.8, 0.3" << std::endl;
+      tracer.SetMotionCommand(0.8, 0.3);
+    } else if (count < 15) {
+      std::cout << "Motor: 1.5, 0.5" << std::endl;
+      tracer.SetMotionCommand(1.5, 0.5);
+    } else if (count < 20) {
+      std::cout << "Motor: 1.0, 0.3" << std::endl;
+      tracer.SetMotionCommand(1.0, 0.3);
+    } else if (count < 25) {
+      std::cout << "Motor: 0.0, 0.0" << std::endl;
+      tracer.SetMotionCommand(0.0, 0.0);
+    } else if (count < 30) {
+      std::cout << "Motor: -0.5, -0.3" << std::endl;
+      tracer.SetMotionCommand(-0.5, -0.3);
+    } else if (count < 35) {
+      std::cout << "Motor: -1.0, -0.5" << std::endl;
+      tracer.SetMotionCommand(-1.0, -0.5);
+    } else if (count < 40) {
+      std::cout << "Motor: 0.0, 0.0," << std::endl;
+      tracer.SetMotionCommand(0.0, 0.0);
+    }
+    // tracer.SetMotionCommand(0.8, 0.8);
+
+    auto state = tracer.GetTracerState();
+    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);
+    sleep(1);
+    ++count;
+  }
+
+  return 0;
+}