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added in agx_protocol_v2

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pinloon.lee
2021-03-31 14:29:55 +08:00
parent ed2f38a7fd
commit e7fdfd3e4a
21 changed files with 1719 additions and 1779 deletions
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103
include/ugv_sdk/agilex_base.hpp Normal file
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/*
* agilex_base.hpp
*
* Created on: Dec 22, 2020 17:14
* Description:
*
* Each robot class derived from this base class should provide implementation
* for the following two functions:
*
* - virtual void Connect(std::string dev_name) = 0;
* - virtual void ParseCANFrame(can_frame *rx_frame) = 0;
*
* Copyright (c) 2020 Ruixiang Du (rdu)
*/
#ifndef AGILEX_BASE_HPP
#define AGILEX_BASE_HPP
#include <string>
#include <cstdint>
#include <thread>
#include <mutex>
#include <atomic>
#include "async_port/async_can.hpp"
#include "ugv_sdk/agilex_message.h"
namespace westonrobot {
class AgilexBase {
public:
AgilexBase() = default;
virtual ~AgilexBase();
// do not allow copy or assignment
AgilexBase(const AgilexBase &hunter) = delete;
AgilexBase &operator=(const AgilexBase &hunter) = delete;
// any derived robot must implement this method with proper call back defined
virtual void Connect(std::string dev_name) = 0;
// cmd thread runs at 50Hz (20ms) by default
void SetCmdThreadPeriodMs(int32_t period_ms) {
cmd_thread_period_ms_ = period_ms;
};
// timeout: robot stops if user does not call SetMotionCommand() periodically
void EnableCmdTimeout(uint32_t timeout_ms = 100);
void DisableTimeout() { enable_timeout_ = false; }
// switch to commanded mode
void EnableCommandedMode();
// enforce 50Hz command loop for all AgileX robots internally
void SetMotionCommand(double linear_vel, double angular_vel,
double lateral_velocity, double steering_angle);
// one-shot light command
void SendLightCommand(LightMode front_mode, uint8_t front_custom_value,
LightMode rear_mode, uint8_t rear_custom_value);
void DisableLightControl();
// reset fault states
void ResetRobotState();
protected:
std::mutex state_mutex_;
std::mutex motion_cmd_mutex_;
MotionCommandMessage current_motion_cmd_;
// communication interface
bool can_connected_ = false;
std::shared_ptr<AsyncCAN> can_;
// timeout to be implemented in each vehicle
bool enable_timeout_ = true;
uint32_t timeout_ms_ = 500;
uint32_t watchdog_counter_ = 0;
void FeedCmdTimeoutWatchdog() { watchdog_counter_ = 0; };
// command thread
std::thread cmd_thread_;
int32_t cmd_thread_period_ms_ = 20;
bool cmd_thread_started_ = false;
std::atomic<bool> keep_running_;
// internal functions
void StartCmdThread();
void ControlLoop(int32_t period_ms);
// connect to roboot from CAN or serial
using CANFrameRxCallback = AsyncCAN::ReceiveCallback;
void Connect(std::string dev_name, CANFrameRxCallback cb);
void Disconnect();
// ask background thread to shutdown properly
void Terminate();
void SendRobotCmd();
virtual void ParseCANFrame(can_frame *rx_frame) = 0;
};
} // namespace westonrobot
#endif /* AGILEX_BASE_HPP */

355
include/ugv_sdk/agilex_message.h Normal file
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/*
* agilex_message.h
*
* Created on: Dec 10, 2020 11:47
* Description:
* all values are using SI units (e.g. meter/second/radian)
*
* Copyright (c) 2020 Ruixiang Du (rdu)
*/
#ifndef AGILEX_MESSAGE_H
#define AGILEX_MESSAGE_H
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
#include <stdbool.h>
#include <string.h>
/***************** Control messages *****************/
// 0x111
typedef struct {
float linear_velocity;
float angular_velocity;
float lateral_velocity;
float steering_angle;
} MotionCommandMessage;
// 0x121
typedef enum {
CONST_OFF = 0x00,
CONST_ON = 0x01,
BREATH = 0x02,
CUSTOM = 0x03
} LightMode;
typedef struct {
LightMode mode;
uint8_t custom_value;
} LightOperation;
typedef struct {
bool cmd_ctrl_allowed;
LightOperation front_light;
LightOperation rear_light;
} LightCommandMessage;
// 0x131
typedef struct {
bool enable_braking;
} BrakingCommandMessage;
/**************** Feedback messages *****************/
// 0x211
typedef enum {
VehicleStateNormal = 0x00,
VehicleStateEStop = 0x01,
VehicleStateException = 0x02
} VehicleState;
typedef enum {
// CONTROL_MODE_STANDBY = 0x00,
CONTROL_MODE_RC = 0x00,
CONTROL_MODE_CAN = 0x01,
CONTROL_MODE_UART = 0x02
} ControlMode;
#define SYSTEM_ERROR_MOTOR_DRIVER_MASK ((uint16_t)0x0100)
#define SYSTEM_ERROR_HL_COMM_MASK ((uint16_t)0x0200)
#define SYSTEM_ERROR_BATTERY_FAULT_MASK ((uint16_t)0x0001)
#define SYSTEM_ERROR_BATTERY_WARNING_MASK ((uint16_t)0x0002)
#define SYSTEM_ERROR_RC_SIGNAL_LOSS_MASK ((uint16_t)0x0004)
#define SYSTEM_ERROR_MOTOR1_COMM_MASK ((uint16_t)0x0008)
#define SYSTEM_ERROR_MOTOR2_COMM_MASK ((uint16_t)0x0010)
#define SYSTEM_ERROR_MOTOR3_COMM_MASK ((uint16_t)0x0020)
#define SYSTEM_ERROR_MOTOR4_COMM_MASK ((uint16_t)0x0040)
#define SYSTEM_ERROR_STEER_ENCODER_MASK ((uint16_t)0x0080)
typedef struct {
VehicleState vehicle_state;
ControlMode control_mode;
float battery_voltage;
uint16_t error_code;
} SystemStateMessage;
// 0x221
typedef struct {
float linear_velocity;
float angular_velocity; // only valid for differential drivering
float lateral_velocity;
float steering_angle; // only valid for ackermann steering
} MotionStateMessage;
// 0x231
typedef LightCommandMessage LightStateMessage;
// 0x241
typedef enum {
RC_SWITCH_UP = 0,
RC_SWITCH_MIDDLE,
RC_SWITCH_DOWN
} RcSwitchState;
typedef struct {
RcSwitchState swa;
RcSwitchState swb;
RcSwitchState swc;
RcSwitchState swd;
int8_t stick_right_v;
int8_t stick_right_h;
int8_t stick_left_v;
int8_t stick_left_h;
int8_t var_a;
} RcStateMessage;
// 0x251 - 0x254
typedef struct {
uint8_t motor_id;
int16_t rpm;
float current;
int32_t pulse_count;
} ActuatorHSStateMessage;
// 0x261 - 0x264
#define DRIVER_STATE_INPUT_VOLTAGE_LOW_MASK ((uint8_t)0x01)
#define DRIVER_STATE_MOTOR_OVERHEAT_MASK ((uint8_t)0x02)
#define DRIVER_STATE_DRIVER_OVERLOAD_MASK ((uint8_t)0x04)
#define DRIVER_STATE_DRIVER_OVERHEAT_MASK ((uint8_t)0x08)
#define DRIVER_STATE_SENSOR_FAULT_MASK ((uint8_t)0x10)
#define DRIVER_STATE_DRIVER_FAULT_MASK ((uint8_t)0x20)
#define DRIVER_STATE_DRIVER_ENABLED_MASK ((uint8_t)0x40)
#define DRIVER_STATE_DRIVER_RESET_MASK ((uint8_t)0x80)
typedef struct {
uint8_t motor_id;
float driver_voltage;
float driver_temperature;
int8_t motor_temperature;
uint8_t driver_state;
} ActuatorLSStateMessage;
/***************** Sensor messages ******************/
// 0x311
typedef struct {
float left_wheel;
float right_wheel;
} OdometryMessage;
// 0x321
typedef struct {
float accel_x;
float accel_y;
float accel_z;
} ImuAccelMessage;
// 0x322
typedef struct {
float gyro_x;
float gyro_y;
float gyro_z;
} ImuGyroMessage;
// 0x323
typedef struct {
float yaw;
float pitch;
float roll;
} ImuEulerMessage;
// 0x331
typedef struct {
uint8_t trigger_state;
} SafetyBumperMessage;
// 0x340 + num
typedef struct {
uint8_t sensor_id;
uint8_t distance[8];
} UltrasonicMessage;
// 0x350 + num
typedef struct {
uint8_t sensor_id;
float relative_distance;
float relative_angle;
bool is_normal;
int8_t channels[3];
} UwbMessage;
// 0x361
typedef struct {
uint8_t battery_soc;
uint8_t battery_soh;
float voltage;
float current;
float temperature;
} BmsBasicMessage;
// 0x362
#define BMS_PROT1_CHARGING_CURRENT_NONZERO_MASK ((uint8_t)0x01)
#define BMS_PROT1_CHARGING_OVERCURRENT_SET_MASK ((uint8_t)0x02)
#define BMS_PROT1_DISCHARGING_CURRENT_NONZERO_MASK ((uint8_t)0x10)
#define BMS_PROT1_DISCHARGING_OVERCURRENT_SET_MASK ((uint8_t)0x20)
#define BMS_PROT1_DISCHARGING_SHORTCIRCUIT_SET_MASK ((uint8_t)0x40)
#define BMS_PROT2_CORE_OPENCIRCUIT_SET_MASK ((uint8_t)0x01)
#define BMS_PROT2_TEMP_SENSOR_OPENCIRCUIT_SET_MASK ((uint8_t)0x02)
#define BMS_PROT2_CORE_OVERVOLTAGE_SET_MASK ((uint8_t)0x10)
#define BMS_PROT2_CORE_UNDERVOLTAGE_SET_MASK ((uint8_t)0x20)
#define BMS_PROT2_TOTAL_OVERVOLTAGE_SET_MASK ((uint8_t)0x40)
#define BMS_PROT2_TOTAL_UNDERVOLTAGE_SET_MASK ((uint8_t)0x80)
#define BMS_PROT3_CHARGING_OVERTEMP_SET_MASK ((uint8_t)0x04)
#define BMS_PROT3_DISCHARGING_OVERTEMP_SET_MASK ((uint8_t)0x08)
#define BMS_PROT3_CHARGING_UNDERTEMP_SET_MASK ((uint8_t)0x10)
#define BMS_PROT3_DISCHARGING_UNDERTEMP_SET_MASK ((uint8_t)0x20)
#define BMS_PROT3_CHARGING_TEMPDIFF_SET_MASK ((uint8_t)0x40)
#define BMS_PROT3_DISCHARGING_TEMPDIFF_SET_MASK ((uint8_t)0x80)
#define BMS_PROT4_CHARGING_MOS_STATE_SET_MASK ((uint8_t)0x01)
#define BMS_PROT4_DISCHARGING_MOS_STATE_SET_MASK ((uint8_t)0x02)
#define BMS_PROT4_CHARGING_MOS_FAILURE_SET_MASK ((uint8_t)0x04)
#define BMS_PROT4_DISCHARGING_MOS_FAILURE_SET_MASK ((uint8_t)0x08)
#define BMS_PROT4_WEAK_SIGNAL_SWITCH_OPEN_SET_MASK ((uint8_t)0x10)
typedef struct {
uint8_t protection_code1;
uint8_t protection_code2;
uint8_t protection_code3;
uint8_t protection_code4;
uint8_t battery_max_teperature;
uint8_t battery_min_teperature;
} BmsExtendedMessage;
/************ Query/config messages ****************/
// 0x411
typedef struct {
bool request;
} VersionRequestMessage;
// 0x41a
typedef struct {
uint16_t controller_hw_version;
uint16_t motor_driver_hw_version;
uint16_t controller_sw_version;
uint16_t motor_driver_sw_version;
} VersionResponseMessage;
// 0x421
typedef struct {
ControlMode mode;
} ControlModeConfigMessage;
// 0x431
typedef struct {
bool set_as_neutral;
} SteerNeutralRequestMessage;
// 0x43a
typedef struct {
bool neutral_set_successful;
} SteerNeutralResponseMessage;
// 0x441
typedef enum {
CLEAR_ALL_FAULT = 0x00,
CLEAR_MOTOR1_FAULT = 0x01,
CLEAR_MOTOR2_FAULT = 0x02,
CLEAR_MOTOR3_FAULT = 0x03,
CLEAR__MOTOR4_FAULT = 0x04
} FaultClearCode;
typedef struct {
uint8_t error_clear_byte;
} StateResetConfigMessage;
//////////////////////////////////////////////////////
typedef enum {
AgxMsgUnkonwn = 0x00,
// command
AgxMsgMotionCommand,
AgxMsgLightCommand,
AgxMsgBrakingCommand,
// state feedback
AgxMsgSystemState,
AgxMsgMotionState,
AgxMsgLightState,
AgxMsgRcState,
AgxMsgActuatorHSState,
AgxMsgActuatorLSState,
// sensor
AgxMsgOdometry,
AgxMsgImuAccel,
AgxMsgImuGyro,
AgxMsgImuEuler,
AgxMsgSafetyBumper,
AgxMsgUltrasonic,
AgxMsgUwb,
AgxMsgBmsBasic,
AgxMsgBmsExtended,
// query/config
AgxMsgVersionRequest,
AgxMsgVersionResponse,
AgxMsgControlModeConfig,
AgxMsgSteerNeutralRequest,
AgxMsgSteerNeutralResponse,
AgxMsgStateResetConfig
} MsgType;
typedef struct {
MsgType type;
union {
// command
MotionCommandMessage motion_command_msg;
LightCommandMessage light_command_msg;
BrakingCommandMessage braking_command_msg;
// state feedback
SystemStateMessage system_state_msg;
MotionStateMessage motion_state_msg;
LightStateMessage light_state_msg;
RcStateMessage rc_state_msg;
ActuatorHSStateMessage actuator_hs_state_msg;
ActuatorLSStateMessage actuator_ls_state_msg;
// sensor
OdometryMessage odometry_msg;
ImuAccelMessage imu_accel_msg;
ImuGyroMessage imu_gyro_msg;
ImuEulerMessage imu_euler_msg;
SafetyBumperMessage safety_bumper_msg;
UltrasonicMessage ultrasonic_msg;
UwbMessage uwb_msg;
BmsBasicMessage bms_basic_msg;
BmsExtendedMessage bms_extended_msg;
// query/config
VersionRequestMessage version_request_msg;
VersionResponseMessage version_response_msg;
ControlModeConfigMessage control_mode_config_msg;
SteerNeutralRequestMessage steer_neutral_request_msg;
SteerNeutralResponseMessage steer_neutral_response_msg;
StateResetConfigMessage state_reset_config_msg;
} body;
} AgxMessage;
#ifdef __cplusplus
}
#endif
#endif /* AGILEX_MESSAGE_H */

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include/ugv_sdk/details/agilex_msg_parser.h Normal file
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/*
* agilex_msg_parser.h
*
* Created on: Dec 22, 2020 17:11
* Description: public API to encode/decode protocol messages
*
* Copyright (c) 2020 Ruixiang Du (rdu)
*/
#ifndef AGILEX_MSG_PARSER_H
#define AGILEX_MSG_PARSER_H
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
#include <stdbool.h>
#include <string.h>
#ifdef __linux__
#include <linux/can.h>
#else
struct can_frame {
uint32_t can_id;
uint8_t can_dlc;
uint8_t data[8] __attribute__((aligned(8)));
};
#endif
#include "ugv_sdk/agilex_message.h"
bool DecodeCanFrame(const struct can_frame *rx_frame, AgxMessage *msg);
void EncodeCanFrame(const AgxMessage *msg, struct can_frame *tx_frame);
uint8_t CalcCanFrameChecksum(uint16_t id, uint8_t *data, uint8_t dlc);
#ifdef __cplusplus
}
#endif
#endif /* AGILEX_MSG_PARSER_H */

66
include/ugv_sdk/hunter/hunter_base.hpp
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/*
* hunter_base.hpp
*
* Created on: Apr 01, 2020 09:43
* Description:
*
* Copyright (c) 2019 Ruixiang Du (rdu)
*/
#ifndef HUNTER_BASE_HPP
#define HUNTER_BASE_HPP
#include <string>
#include <cstdint>
#include <thread>
#include <mutex>
#include "ugv_sdk/mobile_base.hpp"
#include "ugv_sdk/hunter/hunter_protocol.h"
#include "ugv_sdk/hunter/hunter_can_parser.h"
#include "ugv_sdk/hunter/hunter_types.hpp"
namespace westonrobot {
class HunterBase : public MobileBase {
public:
HunterBase() : MobileBase(){};
~HunterBase() = default;
// get robot state
HunterState GetHunterState();
// motion control
void SetMotionCommand(double linear_vel, double angular_vel,
double steering_angle,
HunterMotionCmd::FaultClearFlag fault_clr_flag =
HunterMotionCmd::FaultClearFlag::NO_FAULT);
private:
// cmd/status update related variables
std::mutex hunter_state_mutex_;
std::mutex motion_cmd_mutex_;
std::mutex mode_cmd_mutex_;
std::mutex pack_mode_cmd_mutex_;
HunterState hunter_state_;
HunterMotionCmd current_motion_cmd_;
// internal functions
void SendRobotCmd() override;
void ParseCANFrame(can_frame *rx_frame) override;
void ParseUARTBuffer(uint8_t *buf, const size_t bufsize,
size_t bytes_received) override{};
void SendMotionCmd(uint8_t count);
void SendModeCtl();
void SetParkMode();
void NewStatusMsgReceivedCallback(const HunterMessage &msg);
public:
static void UpdateHunterState(const HunterMessage &status_msg,
HunterState &state);
};
} // namespace westonrobot
#endif /* HUNTER_BASE_HPP */

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include/ugv_sdk/hunter/hunter_types.hpp
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/*
* hunter_types.hpp
*
* Created on: Apr 01, 2020 09:43
* Description:
*
* Copyright (c) 2019 Ruixiang Du (rdu)
*/
#ifndef HUNTER_TYPES_HPP
#define HUNTER_TYPES_HPP
#include <cstdint>
#include <iostream>
namespace westonrobot
{
struct HunterState
{
struct MotorHighSpeedState
{
double current = 0; // in A
double rpm = 0;
double motor_pose = 0;
};
struct MotorLowSpeedState
{
double driver_voltage = 0;
double driver_temperature = 0;
double motor_temperature = 0;
uint8_t driver_state = 0;
};
// base state
uint8_t base_state = 0;
uint8_t control_mode = 0;
uint8_t park_mode = 1;
uint16_t fault_code = 0;
double battery_voltage = 0.0;
uint8_t set_zero_steering = 0;
// motor state
static constexpr uint8_t motor_num = 3;
MotorHighSpeedState motor_hs_state[motor_num];
MotorLowSpeedState motor_ls_state[motor_num];
// motion state
double linear_velocity = 0;
double steering_angle = 0;
};
struct HunterMotionCmd
{
enum class FaultClearFlag
{
NO_FAULT = 0x00,
BAT_UNDER_VOL = 0x01,
BAT_OVER_VOL = 0x02,
MOTOR1_COMM = 0x03,
MOTOR2_COMM = 0x04,
MOTOR3_COMM = 0x05,
MOTOR4_COMM = 0x06,
MOTOR_DRV_OVERHEAT = 0x07,
MOTOR_OVERCURRENT = 0x08
};
HunterMotionCmd(int8_t linear_height_byte = 0, int8_t linear_low_byte = 0, int8_t angular_height_byte = 0, int8_t angular_low_byte = 0,
FaultClearFlag fault_clr_flag = FaultClearFlag::NO_FAULT)
: linear_velocity_height_byte(linear_height_byte),linear_velocity_low_byte(linear_low_byte), angular_velocity_height_byte(angular_height_byte),angular_velocity_low_byte(angular_low_byte),
fault_clear_flag(fault_clr_flag) {}
int8_t linear_velocity_height_byte;
int8_t linear_velocity_low_byte;
int8_t angular_velocity_height_byte;
int8_t angular_velocity_low_byte;
FaultClearFlag fault_clear_flag;
static constexpr double max_linear_velocity = 1.5; // 1.5 m/s
static constexpr double min_linear_velocity = -1.5; // -1.5 m/s
static constexpr double max_steering_angle = 0.576; // 0.576 rad ~= 30.00 degree
static constexpr double min_steering_angle = -0.576; // -0.576 rad
};
} // namespace westonrobot
#endif /* HUNTER_TYPES_HPP */

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include/ugv_sdk/mobile_base.hpp
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/*
* mobile_base.hpp
*
* Created on: Jun 17, 2020 11:23
* Description:
*
* Generic mobile base: this class handles the communication
* logic that is similar across different mobile platforms
*
* Copyright (c) 2020 Ruixiang Du (rdu)
*/
#ifndef MOBILE_BASE_HPP
#define MOBILE_BASE_HPP
#include <string>
#include <cstdint>
#include <thread>
#include <mutex>
#include <atomic>
#include "async_port/async_can.hpp"
#include "async_port/async_serial.hpp"
namespace westonrobot {
class MobileBase {
public:
MobileBase() = default;
virtual ~MobileBase();
// do not allow copy or assignment
MobileBase(const MobileBase &hunter) = delete;
MobileBase &operator=(const MobileBase &hunter) = delete;
void SetCmdTimeout(bool enable, uint32_t timeout_ms = 100);
void DisableTimeout() { enable_timeout_ = false; }
// connect to roboot from CAN or serial
void Connect(std::string dev_name, int32_t baud_rate = 0);
// disconnect from roboot, only valid for serial port
void Disconnect();
// ask background thread to shutdown properly
void Terminate();
// cmd thread runs at 100Hz (10ms) by default
void SetCmdThreadPeriodMs(int32_t period_ms) {
cmd_thread_period_ms_ = period_ms;
};
protected:
// communication interface
bool can_connected_ = false;
bool serial_connected_ = false;
std::shared_ptr<AsyncCAN> can_if_;
std::shared_ptr<AsyncSerial> serial_if_;
// timeout to be implemented in each vehicle
bool enable_timeout_ = true;
uint32_t timeout_ms_ = 500;
uint32_t watchdog_counter_ = 0;
void FeedCmdTimeoutWatchdog() { watchdog_counter_ = 0; };
// command thread
std::thread cmd_thread_;
int32_t cmd_thread_period_ms_ = 10;
bool cmd_thread_started_ = false;
std::atomic<bool> keep_running_;
// internal functions
void ConfigureCAN(const std::string &can_if_name = "can0");
void ConfigureSerial(const std::string uart_name = "/dev/ttyUSB0",
int32_t baud_rate = 115200);
void StartCmdThread();
void ControlLoop(int32_t period_ms);
// functions that must/may be implemented by child classes
virtual void SendRobotCmd() = 0;
virtual void ParseCANFrame(can_frame *rx_frame){};
virtual void ParseUARTBuffer(uint8_t *buf, const size_t bufsize,
size_t bytes_received){};
};
} // namespace westonrobot
#endif /* MOBILE_BASE_HPP */

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include/ugv_sdk/proto/agx_msg_parser.h
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/*
* agx_msg_parser.h
*
* Created on: Nov 04, 2020 13:40
* Description:
*
* Copyright (c) 2020 Ruixiang Du (rdu)
*/
#ifndef AGX_MSG_PARSER_H
#define AGX_MSG_PARSER_H
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
#include <stdbool.h>
#include <string.h>
#include "ugv_sdk/proto/agx_protocol_v2.h"
#ifdef __linux__
#include <linux/can.h>
#else
struct can_frame {
uint32_t can_id;
uint8_t can_dlc;
uint8_t data[8] __attribute__((aligned(8)));
};
#endif
#pragma pack(push, 1)
typedef enum {
AgxMsgUnkonwn = 0x00,
// command
AgxMsgMotionCommand = 0x01,
AgxMsgLightCommand = 0x02,
AgxMsgCtrlModeSelect = 0x03,
AgxMsgFaultByteReset = 0x04,
// state feedback
AgxMsgSystemState = 0x21,
AgxMsgMotionState = 0x22,
AgxMsgLightState = 0x23,
AgxMsgRcState = 0x24,
AgxMsgActuatorHSState = 0x25,
AgxMsgActuatorLSState = 0x26,
AgxMsgOdometry = 0x27,
AgxMsgVersionQuery = 0x28,
AgxMsgPlatformVersion = 0x29
} MsgType;
typedef struct {
MsgType type;
union {
// command
MotionCommandMessage motion_command_msg;
LightCommandMessage light_command_msg;
CtrlModeSelectMessage ctrl_mode_select_msg;
StateResetMessage state_reset_msg;
// state feedback
SystemStateMessage system_state_msg;
MotionStateMessage motion_state_msg;
LightStateMessage light_state_msg;
RcStateMessage rc_state_msg;
ActuatorHSStateMessage actuator_hs_state_msg;
ActuatorLSStateMessage actuator_ls_state_msg;
OdometryMessage odometry_msg;
VersionQueryMessage version_query_msg;
PlatformVersionMessage platform_version_msg;
} body;
} AgxMessage;
#pragma pack(pop)
bool DecodeCanFrame(const struct can_frame *rx_frame, AgxMessage *msg);
void EncodeCanFrame(const AgxMessage *msg, struct can_frame *tx_frame);
uint8_t CalcCanFrameChecksum(uint16_t id, uint8_t *data, uint8_t dlc);
#ifdef __cplusplus
}
#endif
#endif /* AGX_PARSER_H */

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include/ugv_sdk/proto/agx_protocol_v2.h
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/*
* agx_protocol_v2.h
*
* Created on: Nov 04, 2020 13:54
* Description:
*
* Copyright (c) 2020 Ruixiang Du (rdu)
*/
#ifndef AGX_PROTOCOL_V2_H
#define AGX_PROTOCOL_V2_H
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
/*---------------------------- Motor IDs -------------------------------*/
#define ACTUATOR1_ID ((uint8_t)0x00)
#define ACTUATOR2_ID ((uint8_t)0x01)
#define ACTUATOR3_ID ((uint8_t)0x02)
#define ACTUATOR4_ID ((uint8_t)0x03)
/*--------------------------- Message IDs ------------------------------*/
#define CAN_MSG_MOTION_COMMAND_ID ((uint32_t)0x111)
#define CAN_MSG_LIGHT_COMMAND_ID ((uint32_t)0x121)
#define CAN_MSG_PARK_COMMAND_ID ((uint32_t)0x131)
#define CAN_MSG_SYSTEM_STATE_ID ((uint32_t)0x211)
#define CAN_MSG_MOTION_STATE_ID ((uint32_t)0x221)
#define CAN_MSG_LIGHT_STATE_ID ((uint32_t)0x231)
#define CAN_MSG_RC_STATE_ID ((uint32_t)0x241)
#define CAN_MSG_ACTUATOR1_HS_STATE_ID ((uint32_t)0x251)
#define CAN_MSG_ACTUATOR2_HS_STATE_ID ((uint32_t)0x252)
#define CAN_MSG_ACTUATOR3_HS_STATE_ID ((uint32_t)0x253)
#define CAN_MSG_ACTUATOR4_HS_STATE_ID ((uint32_t)0x254)
#define CAN_MSG_ACTUATOR1_LS_STATE_ID ((uint32_t)0x261)
#define CAN_MSG_ACTUATOR2_LS_STATE_ID ((uint32_t)0x262)
#define CAN_MSG_ACTUATOR3_LS_STATE_ID ((uint32_t)0x263)
#define CAN_MSG_ACTUATOR4_LS_STATE_ID ((uint32_t)0x264)
#define CAN_MSG_ODOMETRY_ID ((uint32_t)0x311)
#define CAN_MSG_VERSION_QUERY_ID ((uint32_t)0x411)
#define CAN_MSG_PLATFORM_VERSION_ID ((uint32_t)0x41a)
#define CAN_MSG_CTRL_MODE_SELECT_ID ((uint32_t)0x421)
#define CAN_MSG_STEER_NEUTRAL_RESET_ID ((uint32_t)0x431)
#define CAN_MSG_STEER_NEUTRAL_RESET_ACK_ID ((uint32_t)0x43a)
#define CAN_MSG_STATE_RESET_ID ((uint32_t)0x441)
/*--------------------- Control/State Constants ------------------------*/
// Control
#define VEHICLE_STATE_NORMAL ((uint8_t)0x00)
#define VEHICLE_STATE_ESTOP ((uint8_t)0x01)
#define VEHICLE_STATE_EXCEPTION ((uint8_t)0x02)
#define FAULT_BATTERY_LOW_ERROR ((uint8_t)0x01)
#define FAULT_BATTERY_LOW_WARN ((uint8_t)0x02)
#define FAULT_RC_SIGNAL_LOSS ((uint8_t)0x04)
#define FAULT_CLR_ALL ((uint8_t)0x00)
#define FAULT_CLR_MOTOR1_COMM ((uint8_t)0x01)
#define FAULT_CLR_MOTOR2_COMM ((uint8_t)0x02)
#define FAULT_CLR_MOTOR3_COMM ((uint8_t)0x03)
#define FAULT_CLR_MOTOR4_COMM ((uint8_t)0x04)
#define CTRL_MODE_RC ((uint8_t)0x00)
#define CTRL_MODE_CMD_CAN ((uint8_t)0x01)
#define CTRL_MODE_CMD_UART ((uint8_t)0x02)
#define QUERY_PLATFORM_VERSION_REQUEST ((uint8_t)0x01)
// Actuator
#define BATTERY_VOLTAGE_LOW ((uint8_t)0x01)
#define MOTOR_OVERHEAT ((uint8_t)0x02)
#define MOTOR_DRIVER_OVERLOAD ((uint8_t)0x04)
#define MOTOR_DRIVER_OVERHEAT ((uint8_t)0x08)
#define MOTOR_SENSOR_FAULT ((uint8_t)0x10)
#define MOTOR_DRIVER_FAULT ((uint8_t)0x20)
#define MOTOR_DRIVER_ENABLED ((uint8_t)0x40)
#define MOTOR_DRIVER_RESERVED0 ((uint8_t)0x80)
#define STEER_NEUTRAL_RESET_ACK ((uint8_t)0xee)
// Light
#define LIGHT_CTRL_DISABLE ((uint8_t)0x00)
#define LIGHT_CTRL_ENABLE ((uint8_t)0x01)
#define LIGHT_MODE_CONST_OFF ((uint8_t)0x00)
#define LIGHT_MODE_CONST_ON ((uint8_t)0x01)
#define LIGHT_MODE_BREATH ((uint8_t)0x02)
#define LIGHT_MODE_CUSTOM ((uint8_t)0x03)
/*-------------------- Control/Feedback Messages -----------------------*/
/* No padding in the struct */
// reference: https://stackoverflow.com/questions/3318410/pragma-pack-effect
#pragma pack(push, 1)
// Control messages
typedef union {
struct {
struct {
int8_t high_byte;
int8_t low_byte;
} linear_velocity;
struct {
uint8_t high_byte;
uint8_t low_byte;
} angular_velocity;
struct {
uint8_t high_byte;
uint8_t low_byte;
} lateral_velocity;
struct {
uint8_t high_byte;
uint8_t low_byte;
} steering_angle;
} cmd;
uint8_t raw[8];
} MotionCommandMessage;
typedef union {
struct {
uint8_t light_ctrl_enabled;
uint8_t front_light_mode;
uint8_t front_light_custom;
uint8_t rear_light_mode;
uint8_t rear_light_custom;
uint8_t reserved0;
uint8_t reserved1;
uint8_t count;
} cmd;
uint8_t raw[8];
} LightCommandMessage;
typedef union {
struct {
uint8_t control_mode;
uint8_t reserved0;
uint8_t reserved1;
uint8_t reserved2;
uint8_t reserved3;
uint8_t reserved4;
uint8_t reserved5;
uint8_t reserved6;
} cmd;
uint8_t raw[8];
} CtrlModeSelectMessage;
typedef union {
struct {
uint8_t fault_byte;
uint8_t reserved0;
uint8_t reserved1;
uint8_t reserved2;
uint8_t reserved3;
uint8_t reserved4;
uint8_t reserved5;
uint8_t reserved6;
} cmd;
uint8_t raw[8];
} StateResetMessage;
// State feedback messages
typedef union {
struct {
uint8_t vehicle_state;
uint8_t control_mode;
struct {
uint8_t high_byte;
uint8_t low_byte;
} battery_voltage;
uint8_t fault_code;
uint8_t reserved0;
uint8_t reserved1;
uint8_t count;
} state;
uint8_t raw[8];
} SystemStateMessage;
typedef union {
struct {
struct {
uint8_t high_byte;
uint8_t low_byte;
} linear_velocity;
struct {
uint8_t high_byte;
uint8_t low_byte;
} angular_velocity; // only valid for differential drivering
uint8_t reserved0;
uint8_t reserved1;
struct {
uint8_t high_byte;
uint8_t low_byte;
} steering_angle; // only valid for ackermann steering
} state;
uint8_t raw[8];
} MotionStateMessage;
typedef union {
struct {
uint8_t light_ctrl_enabled;
uint8_t front_light_mode;
uint8_t front_light_custom;
uint8_t rear_light_mode;
uint8_t rear_light_custom;
uint8_t reserved0;
uint8_t reserved1;
uint8_t count;
} state;
uint8_t raw[8];
} LightStateMessage;
typedef union {
struct {
uint8_t sws;
uint8_t right_stick_left_right;
uint8_t right_stick_up_down;
uint8_t left_stick_left_right;
uint8_t left_stick_up_down;
uint8_t var_a;
uint8_t reserved0;
uint8_t count;
} state;
uint8_t raw[8];
} RcStateMessage;
typedef struct {
uint8_t motor_id;
union {
struct {
struct {
uint8_t high_byte;
uint8_t low_byte;
} rpm;
struct {
uint8_t high_byte;
uint8_t low_byte;
} current;
struct {
int8_t msb;
int8_t high_byte;
int8_t low_byte;
int8_t lsb;
} pulse_count;
} state;
uint8_t raw[8];
} data;
} ActuatorHSStateMessage;
typedef struct {
uint8_t motor_id;
union {
struct {
struct {
uint8_t high_byte;
uint8_t low_byte;
} driver_voltage;
struct {
uint8_t high_byte;
uint8_t low_byte;
} driver_temperature;
int8_t motor_temperature;
uint8_t driver_state;
uint8_t reserved0;
uint8_t reserved1;
} state;
uint8_t raw[8];
} data;
} ActuatorLSStateMessage;
typedef union {
struct {
struct {
uint8_t msb;
uint8_t high_byte;
uint8_t low_byte;
uint8_t lsb;
} left_wheel;
struct {
uint8_t msb;
uint8_t high_byte;
uint8_t low_byte;
uint8_t lsb;
} right_wheel;
} state;
uint8_t raw[8];
} OdometryMessage;
typedef union {
struct {
uint8_t request;
uint8_t reserved0;
uint8_t reserved1;
uint8_t reserved2;
uint8_t reserved3;
uint8_t reserved4;
uint8_t reserved5;
uint8_t reserved6;
} state;
uint8_t raw[8];
} VersionQueryMessage;
typedef union {
struct {
struct {
uint8_t high_byte;
uint8_t low_byte;
} controller_hw_version;
struct {
uint8_t high_byte;
uint8_t low_byte;
} motor_driver_hw_version;
struct {
uint8_t high_byte;
uint8_t low_byte;
} controller_sw_version;
struct {
uint8_t high_byte;
uint8_t low_byte;
} motor_driver_sw_version;
} state;
uint8_t raw[8];
} PlatformVersionMessage;
#pragma pack(pop)
#ifdef __cplusplus
}
#endif
#endif /* AGX_PROTOCOL_V2_H */

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/*
* scout_base.hpp
*
* Created on: Jun 04, 2019 01:22
* Description:
*
* Copyright (c) 2019 Ruixiang Du (rdu)
*/
#ifndef SCOUT_BASE_HPP
#define SCOUT_BASE_HPP
#include <string>
#include <cstdint>
#include <thread>
#include <mutex>
#include <functional>
#include "ugv_sdk/mobile_base.hpp"
#include "ugv_sdk/proto/agx_msg_parser.h"
#include "ugv_sdk/scout/scout_types.hpp"
namespace westonrobot {
class ScoutBase : public MobileBase {
public:
ScoutBase() : MobileBase(){};
~ScoutBase() = default;
// get robot state
ScoutState GetScoutState();
void EnableCommandedMode();
// motion control
void SetMotionCommand(double linear_vel, double angular_vel);
// light control
void SetLightCommand(const ScoutLightCmd &cmd);
private:
// cmd/status update related variables
std::mutex scout_state_mutex_;
std::mutex motion_cmd_mutex_;
ScoutState scout_state_;
ScoutMotionCmd current_motion_cmd_;
// internal functions
void SendMotionCmd(uint8_t count);
void SendLightCmd(const ScoutLightCmd &cmd, uint8_t count);
void SendRobotCmd() override;
void ParseCANFrame(can_frame *rx_frame) override;
void NewStatusMsgReceivedCallback(const AgxMessage &msg);
static void UpdateScoutState(const AgxMessage &status_msg, ScoutState &state);
};
} // namespace westonrobot
#endif /* SCOUT_BASE_HPP */

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/*
* scout_state.hpp
*
* Created on: Jun 11, 2019 08:48
* Description:
*
* Copyright (c) 2019 Ruixiang Du (rdu)
*/
#ifndef SCOUT_STATE_HPP
#define SCOUT_STATE_HPP
#include <cstdint>
#include <iostream>
namespace westonrobot {
struct ScoutState {
enum MotorID {
FRONT_RIGHT = 0,
FRONT_LEFT = 1,
REAR_LEFT = 2,
REAR_RIGHT = 3
};
struct ActuatorState {
double motor_current = 0; // in A
uint16_t motor_rpm = 0;
uint16_t motor_pulses = 0;
double motor_temperature = 0;
double driver_voltage = 0;
double driver_temperature = 0;
uint8_t driver_state = 0;
};
struct LightState {
uint8_t mode = 0;
uint8_t custom_value = 0;
};
// base state
uint8_t base_state = 0;
uint8_t control_mode = 0;
uint8_t fault_code = 0;
double battery_voltage = 0.0;
// motor state
static constexpr uint8_t motor_num = 4;
ActuatorState actuator_states[motor_num];
// light state
bool light_control_enabled = false;
LightState front_light_state;
LightState rear_light_state;
// motion state
double linear_velocity = 0;
double angular_velocity = 0;
// odometer state
double left_odometry = 0;
double right_odometry = 0;
};
struct ScoutMotionCmd {
ScoutMotionCmd(double linear = 0.0, double angular = 0.0)
: linear_velocity(linear), angular_velocity(angular) {}
double linear_velocity;
double angular_velocity;
static constexpr double max_linear_velocity = 1.5; // 1.5 m/s
static constexpr double min_linear_velocity = -1.5; // -1.5 m/s
static constexpr double max_angular_velocity = 0.5235; // 0.5235 rad/s
static constexpr double min_angular_velocity = -0.5235; // -0.5235 rad/s
};
struct ScoutLightCmd {
enum class LightMode {
CONST_OFF = 0x00,
CONST_ON = 0x01,
BREATH = 0x02,
CUSTOM = 0x03
};
ScoutLightCmd() = default;
ScoutLightCmd(LightMode f_mode, uint8_t f_value, LightMode r_mode,
uint8_t r_value)
: enable_ctrl(true),
front_mode(f_mode),
front_custom_value(f_value),
rear_mode(r_mode),
rear_custom_value(r_value) {}
bool enable_ctrl = false;
LightMode front_mode;
uint8_t front_custom_value;
LightMode rear_mode;
uint8_t rear_custom_value;
};
} // namespace westonrobot
#endif /* SCOUT_STATE_HPP */

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/*
* scout_base.hpp
*
* Created on: Dec 23, 2020 14:39
* Description:
*
* Copyright (c) 2020 Ruixiang Du (rdu)
*/
#ifndef SCOUT_BASE_HPP
#define SCOUT_BASE_HPP
#include <string>
#include <cstdint>
#include <thread>
#include <mutex>
#include "ugv_sdk/agilex_base.hpp"
namespace westonrobot {
struct ScoutState {
// system state
SystemStateMessage system_state;
MotionStateMessage motion_state;
LightStateMessage light_state;
RcStateMessage rc_state;
ActuatorHSStateMessage actuator_hs_state[4];
ActuatorLSStateMessage actuator_ls_state[4];
// sensor data
OdometryMessage odometry;
};
struct ScoutMotionCmd {
double linear_velocity;
double angular_velocity;
};
struct ScoutLightCmd {
ScoutLightCmd() = default;
ScoutLightCmd(LightMode f_mode, uint8_t f_value, LightMode r_mode,
uint8_t r_value)
: cmd_ctrl_allowed(true),
front_mode(f_mode),
front_custom_value(f_value),
rear_mode(r_mode),
rear_custom_value(r_value) {}
bool cmd_ctrl_allowed = false;
LightMode front_mode;
uint8_t front_custom_value;
LightMode rear_mode;
uint8_t rear_custom_value;
};
/////////////////////////////////////////////////////////////////////////
class ScoutBase : public AgilexBase {
public:
ScoutBase() : AgilexBase(){};
~ScoutBase() = default;
// set up connection
void Connect(std::string dev_name) override;
// robot control
void SetMotionCommand(double linear_vel, double angular_vel);
void SetLightCommand(const ScoutLightCmd &cmd);
// get robot state
ScoutState GetScoutState();
private:
ScoutState scout_state_;
void ParseCANFrame(can_frame *rx_frame) override;
void UpdateScoutState(const AgxMessage &status_msg, ScoutState &state);
};
} // namespace westonrobot
#endif /* SCOUT_BASE_HPP */

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/*
* tracer_base.hpp
*
* Created on: Apr 14, 2020 10:21
* Description:
*
* Copyright (c) 2020 Ruixiang Du (rdu)
*/
#ifndef TRACER_BASE_HPP
#define TRACER_BASE_HPP
#include <string>
#include <cstdint>
#include <thread>
#include <mutex>
#include "ugv_sdk/mobile_base.hpp"
#include "ugv_sdk/proto/agx_msg_parser.h"
#include "ugv_sdk/tracer/tracer_types.hpp"
namespace westonrobot {
class TracerBase : public MobileBase {
public:
TracerBase() : MobileBase(){};
~TracerBase() = default;
// get robot state
TracerState GetTracerState();
void EnableCommandedMode();
// motion control
void SetMotionCommand(double linear_vel, double angular_vel);
// light control
void SetLightCommand(const TracerLightCmd &cmd);
private:
// cmd/status update related variables
std::mutex tracer_state_mutex_;
std::mutex motion_cmd_mutex_;
TracerState tracer_state_;
TracerMotionCmd current_motion_cmd_;
void SendMotionCmd(uint8_t count);
void SendLightCmd(const TracerLightCmd &cmd, uint8_t count);
void SendRobotCmd() override;
void ParseCANFrame(can_frame *rx_frame) override;
void NewStatusMsgReceivedCallback(const AgxMessage &msg);
static void UpdateTracerState(const AgxMessage &status_msg,
TracerState &state);
};
} // namespace westonrobot
#endif /* TRACER_BASE_HPP */

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/*
* tracer_types.hpp
*
* Created on: Apr 14, 2020 10:22
* Description:
*
* Copyright (c) 2020 Ruixiang Du (rdu)
*/
#ifndef TRACER_TYPES_HPP
#define TRACER_TYPES_HPP
#include <cstdint>
#include <iostream>
namespace westonrobot {
struct TracerState {
struct ActuatorState {
double motor_current = 0; // in A
uint16_t motor_rpm = 0;
uint16_t motor_pulses = 0;
double motor_temperature = 0;
double driver_voltage = 0;
double driver_temperature = 0;
uint8_t driver_state = 0;
};
struct LightState {
uint8_t mode = 0;
uint8_t custom_value = 0;
};
// base state
uint8_t base_state = 0;
uint8_t control_mode = 0;
uint8_t fault_code = 0;
double battery_voltage = 0.0;
// actuator state
ActuatorState actuator_states[2];
// light state
bool light_control_enabled = false;
LightState front_light_state;
// motion state
double linear_velocity = 0;
double angular_velocity = 0;
// odometer state
double left_odometry = 0;
double right_odometry = 0;
};
struct TracerMotionCmd {
TracerMotionCmd(double linear = 0.0, double angular = 0.0)
: linear_velocity(linear), angular_velocity(angular) {}
double linear_velocity;
double angular_velocity;
static constexpr double max_linear_velocity = 1.8; // m/s
static constexpr double min_linear_velocity = -1.8;
static constexpr double max_angular_velocity = 1.0; // rad/s
static constexpr double min_angular_velocity = -1.0;
};
struct TracerLightCmd {
enum class LightMode {
CONST_OFF = 0x00,
CONST_ON = 0x01,
BREATH = 0x02,
CUSTOM = 0x03
};
TracerLightCmd() = default;
TracerLightCmd(LightMode f_mode, uint8_t f_value)
: enable_ctrl(true), front_mode(f_mode), front_custom_value(f_value) {}
bool enable_ctrl = false;
LightMode front_mode;
uint8_t front_custom_value;
LightMode rear_mode = LightMode::CONST_OFF;
uint8_t rear_custom_value = 0;
};
} // namespace westonrobot
#endif /* TRACER_TYPES_HPP */

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/*
* tracer_base.hpp
*
* Created on: Apr 14, 2020 10:21
* Description:
*
* Copyright (c) 2020 Weston Robot Pte. Ltd.
*/
#ifndef TRACER_BASE_HPP
#define TRACER_BASE_HPP
#include <string>
#include <cstdint>
#include <thread>
#include <mutex>
#include "ugv_sdk/agilex_base.hpp"
namespace westonrobot {
struct TracerState {
// system state
SystemStateMessage system_state;
MotionStateMessage motion_state;
LightStateMessage light_state;
RcStateMessage rc_state;
ActuatorHSStateMessage actuator_hs_state[2];
ActuatorLSStateMessage actuator_ls_state[2];
// sensor data
OdometryMessage odometry;
};
struct TracerMotionCmd {
double linear_velocity;
double angular_velocity;
};
struct TracerLightCmd {
TracerLightCmd() = default;
TracerLightCmd(LightMode f_mode, uint8_t f_value)
: cmd_ctrl_allowed(true),
front_mode(f_mode),
front_custom_value(f_value) {}
bool cmd_ctrl_allowed = false;
LightMode front_mode;
uint8_t front_custom_value;
};
/////////////////////////////////////////////////////////////////////////
class TracerBase : public AgilexBase {
public:
TracerBase() : AgilexBase(){};
~TracerBase() = default;
// set up connection
void Connect(std::string dev_name) override;
// robot control
void SetMotionCommand(double linear_vel, double angular_vel);
void SetLightCommand(const TracerLightCmd &cmd);
// get robot state
TracerState GetTracerState();
private:
TracerState tracer_state_;
void ParseCANFrame(can_frame *rx_frame) override;
void UpdateTracerState(const AgxMessage &status_msg, TracerState &state);
};
} // namespace westonrobot
#endif /* TRACER_BASE_HPP */