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

include/ugv_sdk/details/interface/ranger_interface.hpp

@@ -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;

include/ugv_sdk/details/interface/robot_common_interface.hpp

@@ -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;
 

include/ugv_sdk/details/robot_base/agilex_base.hpp

@@ -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 {
+  bool Connect(std::string can_name) override {
-    ConnectPort(can_name, std::bind(&AgilexBase<ParserType>::ParseCANFrame,
+    return ConnectPort(can_name,
-                                    this, std::placeholders::_1));
+                       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_ = can_->StartListening();
-    can_connected_ = true;
+    return can_connected_;
   }
 
   void DisconnectPort() {

include/ugv_sdk/details/robot_base/bunker_base.hpp

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

include/ugv_sdk/details/robot_base/hunter_base.hpp

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

include/ugv_sdk/details/robot_base/ranger_base.hpp

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

include/ugv_sdk/details/robot_base/scout_base.hpp

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

include/ugv_sdk/details/robot_base/tracer_base.hpp

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

include/ugv_sdk/mobile_robot/bunker_robot.hpp

@@ -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;
 

include/ugv_sdk/mobile_robot/hunter_robot.hpp

@@ -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;
 

include/ugv_sdk/mobile_robot/scout_robot.hpp

@@ -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;

sample/CMakeLists.txt

@@ -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)

sample/tracer_demo.cpp

@@ -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;
-}

src/mobile_robot/bunker_robot.cpp

@@ -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(); }
 

src/mobile_robot/hunter_robot.cpp

@@ -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(); }
 

src/mobile_robot/scout_robot.cpp

@@ -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);