mirrors/ugv_sdk
1
0
Fork 0
mirror of https://github.com/westonrobot/ugv_sdk synced 2023-04-08 06:32:14 +08:00
Code Issues Packages Projects Releases Wiki Activity

Merge branch 'next' of westonrobot.github.com:westonrobot/ugv_sdk into next

Browse Source
This commit is contained in:
Ruixiang Du
2021-10-05 16:14:57 +08:00
parent e68ecdf5f1 7abf0c5c09
commit e611cc890c
16 changed files with 33 additions and 132 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
include/ugv_sdk/details/interface/ranger_interface.hpp
View File

@@ -39,7 +39,7 @@ struct RangerActuatorState {
/////////////////////////////////////////////////////////////////////////
struct RangerInterface {
virtual void Connect(std::string dev_name) = 0;
virtual bool Connect(std::string dev_name) = 0;
// robot control
virtual void SetMotionMode(uint8_t mode) = 0;

2
include/ugv_sdk/details/interface/robot_common_interface.hpp
View File

@@ -50,7 +50,7 @@ class RobotCommonInterface {
virtual void EnableCommandedMode() = 0;
// functions to be implemented by each robot class
virtual void Connect(std::string can_name) = 0;
virtual bool Connect(std::string can_name) = 0;
virtual void ResetRobotState() = 0;

13
include/ugv_sdk/details/robot_base/agilex_base.hpp
View File

@@ -39,9 +39,10 @@ class AgilexBase : public RobotCommonInterface {
AgilexBase(const AgilexBase &hunter) = delete;
AgilexBase &operator=(const AgilexBase &hunter) = delete;
void Connect(std::string can_name) override {
ConnectPort(can_name, std::bind(&AgilexBase<ParserType>::ParseCANFrame,
this, std::placeholders::_1));
bool Connect(std::string can_name) override {
return ConnectPort(can_name,
std::bind(&AgilexBase<ParserType>::ParseCANFrame, this,
std::placeholders::_1));
}
// switch to commanded mode
@@ -173,11 +174,11 @@ class AgilexBase : public RobotCommonInterface {
// connect to roboot from CAN or serial
using CANFrameRxCallback = AsyncCAN::ReceiveCallback;
void ConnectPort(std::string dev_name, CANFrameRxCallback cb) {
bool ConnectPort(std::string dev_name, CANFrameRxCallback cb) {
can_ = std::make_shared<AsyncCAN>(dev_name);
can_->SetReceiveCallback(cb);
can_->StartListening();
can_connected_ = true;
can_connected_ = can_->StartListening();
return can_connected_;
}
void DisconnectPort() {

4
include/ugv_sdk/details/robot_base/bunker_base.hpp
View File

@@ -26,8 +26,8 @@ class BunkerBase : public AgilexBase<ParserType>, public BunkerInterface {
~BunkerBase() = default;
// set up connection
void Connect(std::string can_name) override {
AgilexBase<ParserType>::Connect(can_name);
bool Connect(std::string can_name) override {
return AgilexBase<ParserType>::Connect(can_name);
}
// robot control

4
include/ugv_sdk/details/robot_base/hunter_base.hpp
View File

@@ -26,8 +26,8 @@ class HunterBase : public AgilexBase<ParserType>, public HunterInterface {
~HunterBase() = default;
// set up connection
void Connect(std::string can_name) override {
AgilexBase<ParserType>::Connect(can_name);
bool Connect(std::string can_name) override {
return AgilexBase<ParserType>::Connect(can_name);
}
// robot control

7
include/ugv_sdk/details/robot_base/ranger_base.hpp
View File

@@ -27,9 +27,10 @@ class RangerBase : public AgilexBase<ProtocolV2Parser>, public RangerInterface {
~RangerBase() = default;
// set up connection
void Connect(std::string dev_name) override {
AgilexBase::ConnectPort(dev_name, std::bind(&RangerBase::ParseCANFrame,
this, std::placeholders::_1));
bool Connect(std::string dev_name) override {
return AgilexBase::ConnectPort(
dev_name,
std::bind(&RangerBase::ParseCANFrame, this, std::placeholders::_1));
}
// robot control

4
include/ugv_sdk/details/robot_base/scout_base.hpp
View File

@@ -26,8 +26,8 @@ class ScoutBase : public AgilexBase<ParserType>, public ScoutInterface {
~ScoutBase() = default;
// set up connection
void Connect(std::string can_name) override {
AgilexBase<ParserType>::Connect(can_name);
bool Connect(std::string can_name) override {
return AgilexBase<ParserType>::Connect(can_name);
}
void Connect(std::string uart_name, uint32_t baudrate) override {

4
include/ugv_sdk/details/robot_base/tracer_base.hpp
View File

@@ -28,8 +28,8 @@ class TracerBaseV2 : public AgilexBase<ProtocolV2Parser>,
~TracerBaseV2() = default;
// set up connection
void Connect(std::string can_name) override {
AgilexBase<ProtocolV2Parser>::Connect(can_name);
bool Connect(std::string can_name) override {
return AgilexBase<ProtocolV2Parser>::Connect(can_name);
}
void Connect(std::string uart_name, uint32_t baudrate) override {

2
include/ugv_sdk/mobile_robot/bunker_robot.hpp
View File

@@ -21,7 +21,7 @@ class BunkerRobot : public RobotCommonInterface, public BunkerInterface {
BunkerRobot(ProtocolVersion protocol = ProtocolVersion::AGX_V2);
~BunkerRobot();
void Connect(std::string can_name) override;
bool Connect(std::string can_name) override;
void EnableCommandedMode() override;

2
include/ugv_sdk/mobile_robot/hunter_robot.hpp
View File

@@ -21,7 +21,7 @@ class HunterRobot : public RobotCommonInterface, public HunterInterface {
HunterRobot(ProtocolVersion protocol = ProtocolVersion::AGX_V2);
~HunterRobot();
void Connect(std::string can_name) override;
bool Connect(std::string can_name) override;
void EnableCommandedMode() override;

2
include/ugv_sdk/mobile_robot/scout_robot.hpp
View File

@@ -22,7 +22,7 @@ class ScoutRobot : public RobotCommonInterface, public ScoutInterface {
bool is_mini_model = false);
virtual ~ScoutRobot();
void Connect(std::string can_name) override;
bool Connect(std::string can_name) override;
void Connect(std::string uart_name, uint32_t baudrate) override;
void EnableCommandedMode() override;

8
sample/CMakeLists.txt
View File

@@ -1,8 +0,0 @@
cmake_minimum_required(VERSION 3.10.2)
project(sdk_sample)
find_package(ugv_sdk REQUIRED)
find_package(Threads REQUIRED)
add_executable(app_tracer_demo tracer_demo.cpp)
target_link_libraries(app_tracer_demo PRIVATE ugv_sdk Threads::Threads)

99
sample/tracer_demo.cpp
View File

@@ -1,99 +0,0 @@
/*
* demo_tracer_can.cpp
*
* Created on: Jun 12, 2019 05:03
* Description:
*
* Copyright (c) 2019 Ruixiang Du (rdu)
*/
#include "ugv_sdk/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;
}
TracerBaseV2 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;
}

4
src/mobile_robot/bunker_robot.cpp
View File

@@ -25,7 +25,9 @@ BunkerRobot::~BunkerRobot() {
void BunkerRobot::EnableCommandedMode() { robot_->EnableCommandedMode(); }
void BunkerRobot::Connect(std::string can_name) { robot_->Connect(can_name); }
bool BunkerRobot::Connect(std::string can_name) {
return robot_->Connect(can_name);
}
void BunkerRobot::ResetRobotState() { robot_->ResetRobotState(); }

4
src/mobile_robot/hunter_robot.cpp
View File

@@ -25,7 +25,9 @@ HunterRobot::~HunterRobot() {
void HunterRobot::EnableCommandedMode() { robot_->EnableCommandedMode(); }
void HunterRobot::Connect(std::string can_name) { robot_->Connect(can_name); }
bool HunterRobot::Connect(std::string can_name) {
return robot_->Connect(can_name);
}
void HunterRobot::ResetRobotState() { robot_->ResetRobotState(); }

4
src/mobile_robot/scout_robot.cpp
View File

@@ -33,7 +33,9 @@ ScoutRobot::~ScoutRobot() {
void ScoutRobot::EnableCommandedMode() { robot_->EnableCommandedMode(); }
void ScoutRobot::Connect(std::string can_name) { robot_->Connect(can_name); }
bool ScoutRobot::Connect(std::string can_name) {
return robot_->Connect(can_name);
}
void ScoutRobot::Connect(std::string uart_name, uint32_t baudrate) {
// robot_->Connect(uart_name, baudrate);