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;