From e96b078c05a3963ef63da0f17c057f53b8479513 Mon Sep 17 00:00:00 2001 From: Ruixiang Du Date: Thu, 15 Jul 2021 13:34:22 +0800 Subject: [PATCH] renamed GetProtocolVersion() to GetParserProtocolVersion() --- demo/bunker_demo/bunker_robot_demo.cpp | 2 +- demo/hunter_demo/hunter_robot_demo.cpp | 4 ++-- demo/scout_demo/scout_robot_demo.cpp | 4 ++-- include/ugv_sdk/details/interface/parser_interface.hpp | 4 ++-- .../ugv_sdk/details/interface/robot_common_interface.hpp | 2 +- include/ugv_sdk/details/robot_base/agilex_base.hpp | 9 +++++---- include/ugv_sdk/mobile_robot/bunker_robot.hpp | 2 +- include/ugv_sdk/mobile_robot/hunter_robot.hpp | 2 +- include/ugv_sdk/mobile_robot/scout_robot.hpp | 2 +- src/mobile_robot/bunker_robot.cpp | 4 ++-- src/mobile_robot/hunter_robot.cpp | 4 ++-- src/mobile_robot/scout_robot.cpp | 4 ++-- 12 files changed, 22 insertions(+), 21 deletions(-) diff --git a/demo/bunker_demo/bunker_robot_demo.cpp b/demo/bunker_demo/bunker_robot_demo.cpp index 369b666..02b0cd0 100644 --- a/demo/bunker_demo/bunker_robot_demo.cpp +++ b/demo/bunker_demo/bunker_robot_demo.cpp @@ -49,7 +49,7 @@ int main(int argc, char **argv) { bunker->Connect(device_name); - if (bunker->GetProtocolVersion() == ProtocolVersion::AGX_V2) { + if (bunker->GetParserProtocolVersion() == ProtocolVersion::AGX_V2) { bunker->EnableCommandedMode(); std::cout << "Protocol version 2" << std::endl; } else { diff --git a/demo/hunter_demo/hunter_robot_demo.cpp b/demo/hunter_demo/hunter_robot_demo.cpp index d51b3a9..42fa8ef 100644 --- a/demo/hunter_demo/hunter_robot_demo.cpp +++ b/demo/hunter_demo/hunter_robot_demo.cpp @@ -49,7 +49,7 @@ int main(int argc, char **argv) { hunter->Connect(device_name); - if (hunter->GetProtocolVersion() == ProtocolVersion::AGX_V2) { + if (hunter->GetParserProtocolVersion() == ProtocolVersion::AGX_V2) { hunter->EnableCommandedMode(); std::cout << "Protocol version 2" << std::endl; } else { @@ -78,7 +78,7 @@ int main(int argc, char **argv) { << state.motion_state.angular_velocity << std::endl; auto actuator = hunter->GetActuatorState(); - if (hunter->GetProtocolVersion() == ProtocolVersion::AGX_V1) { + if (hunter->GetParserProtocolVersion() == ProtocolVersion::AGX_V1) { for (int i = 0; i < 3; ++i) { printf("motor %d: current %f, rpm %d, driver temp %f, motor temp %f\n", actuator.actuator_state[i].motor_id, diff --git a/demo/scout_demo/scout_robot_demo.cpp b/demo/scout_demo/scout_robot_demo.cpp index a7ea147..dac42fe 100644 --- a/demo/scout_demo/scout_robot_demo.cpp +++ b/demo/scout_demo/scout_robot_demo.cpp @@ -49,7 +49,7 @@ int main(int argc, char **argv) { scout->Connect(device_name); - if (scout->GetProtocolVersion() == ProtocolVersion::AGX_V2) { + if (scout->GetParserProtocolVersion() == ProtocolVersion::AGX_V2) { scout->EnableCommandedMode(); std::cout << "Protocol version 2" << std::endl; } else { @@ -95,7 +95,7 @@ int main(int argc, char **argv) { << state.motion_state.angular_velocity << std::endl; auto actuator = scout->GetActuatorState(); - if (scout->GetProtocolVersion() == ProtocolVersion::AGX_V1) { + if (scout->GetParserProtocolVersion() == ProtocolVersion::AGX_V1) { for (int i = 0; i < 4; ++i) { printf("motor %d: current %f, rpm %d, driver temp %f, motor temp %f\n", actuator.actuator_state[i].motor_id, diff --git a/include/ugv_sdk/details/interface/parser_interface.hpp b/include/ugv_sdk/details/interface/parser_interface.hpp index 38e7ee8..019e84e 100644 --- a/include/ugv_sdk/details/interface/parser_interface.hpp +++ b/include/ugv_sdk/details/interface/parser_interface.hpp @@ -26,7 +26,7 @@ struct can_frame { #include "ugv_sdk/details/interface/agilex_message.h" -enum class ProtocolVersion { AGX_V1, AGX_V2 }; +enum class ProtocolVersion { UNKONWN, AGX_V1, AGX_V2 }; template class ParserInterface { @@ -54,7 +54,7 @@ class ParserInterface { return 0; }; - ProtocolVersion GetProtocolVersion() { return VersionNumber; } + ProtocolVersion GetParserProtocolVersion() { return VersionNumber; } }; #endif /* PASER_INTERFACE_HPP */ diff --git a/include/ugv_sdk/details/interface/robot_common_interface.hpp b/include/ugv_sdk/details/interface/robot_common_interface.hpp index a9d0d42..b36b874 100644 --- a/include/ugv_sdk/details/interface/robot_common_interface.hpp +++ b/include/ugv_sdk/details/interface/robot_common_interface.hpp @@ -50,7 +50,7 @@ class RobotCommonInterface { // do nothing if no light on robot } - virtual ProtocolVersion GetProtocolVersion() = 0; + virtual ProtocolVersion GetParserProtocolVersion() = 0; protected: /****** functions not available/valid to all robots ******/ diff --git a/include/ugv_sdk/details/robot_base/agilex_base.hpp b/include/ugv_sdk/details/robot_base/agilex_base.hpp index e4e17b3..8941d5c 100644 --- a/include/ugv_sdk/details/robot_base/agilex_base.hpp +++ b/include/ugv_sdk/details/robot_base/agilex_base.hpp @@ -60,7 +60,7 @@ class AgilexBase : public RobotCommonInterface { if (can_connected_) { // motion control message AgxMessage msg; - if (parser_.GetProtocolVersion() == ProtocolVersion::AGX_V1) { + if (parser_.GetParserProtocolVersion() == ProtocolVersion::AGX_V1) { msg.type = AgxMsgMotionCommandV1; msg.body.v1_motion_command_msg.control_mode = CONTROL_MODE_CAN; msg.body.v1_motion_command_msg.clear_all_error = false; @@ -70,7 +70,8 @@ class AgilexBase : public RobotCommonInterface { std::abs(angular_vel) > std::abs(steering_angle) ? angular_vel : steering_angle; msg.body.v1_motion_command_msg.lateral = lateral_velocity; - } else if (parser_.GetProtocolVersion() == ProtocolVersion::AGX_V2) { + } else if (parser_.GetParserProtocolVersion() == + ProtocolVersion::AGX_V2) { msg.type = AgxMsgMotionCommand; msg.body.motion_command_msg.linear_velocity = linear_vel; msg.body.motion_command_msg.angular_velocity = angular_vel; @@ -133,8 +134,8 @@ class AgilexBase : public RobotCommonInterface { void ResetRobotState() override {} - ProtocolVersion GetProtocolVersion() override { - return parser_.GetProtocolVersion(); + ProtocolVersion GetParserProtocolVersion() override { + return parser_.GetParserProtocolVersion(); } CoreStateMsgGroup GetRobotCoreStateMsgGroup() override { diff --git a/include/ugv_sdk/mobile_robot/bunker_robot.hpp b/include/ugv_sdk/mobile_robot/bunker_robot.hpp index 9deae3b..8c437fb 100644 --- a/include/ugv_sdk/mobile_robot/bunker_robot.hpp +++ b/include/ugv_sdk/mobile_robot/bunker_robot.hpp @@ -29,7 +29,7 @@ class BunkerRobot : public RobotCommonInterface, public BunkerInterface { void ResetRobotState() override; - ProtocolVersion GetProtocolVersion() override; + ProtocolVersion GetParserProtocolVersion() override; // get robot state BunkerCoreState GetRobotState() override; diff --git a/include/ugv_sdk/mobile_robot/hunter_robot.hpp b/include/ugv_sdk/mobile_robot/hunter_robot.hpp index f60ceab..8c529e8 100644 --- a/include/ugv_sdk/mobile_robot/hunter_robot.hpp +++ b/include/ugv_sdk/mobile_robot/hunter_robot.hpp @@ -29,7 +29,7 @@ class HunterRobot : public RobotCommonInterface, public HunterInterface { void ResetRobotState() override; - ProtocolVersion GetProtocolVersion() override; + ProtocolVersion GetParserProtocolVersion() override; // get robot state HunterCoreState GetRobotState() override; diff --git a/include/ugv_sdk/mobile_robot/scout_robot.hpp b/include/ugv_sdk/mobile_robot/scout_robot.hpp index 4717832..4301ddb 100644 --- a/include/ugv_sdk/mobile_robot/scout_robot.hpp +++ b/include/ugv_sdk/mobile_robot/scout_robot.hpp @@ -34,7 +34,7 @@ class ScoutRobot : public RobotCommonInterface, public ScoutInterface { void ResetRobotState() override; - ProtocolVersion GetProtocolVersion() override; + ProtocolVersion GetParserProtocolVersion() override; // get robot state ScoutCoreState GetRobotState() override; diff --git a/src/mobile_robot/bunker_robot.cpp b/src/mobile_robot/bunker_robot.cpp index 3f838a1..2c03c11 100644 --- a/src/mobile_robot/bunker_robot.cpp +++ b/src/mobile_robot/bunker_robot.cpp @@ -29,8 +29,8 @@ void BunkerRobot::Connect(std::string can_name) { robot_->Connect(can_name); } void BunkerRobot::ResetRobotState() { robot_->ResetRobotState(); } -ProtocolVersion BunkerRobot::GetProtocolVersion() { - return robot_->GetProtocolVersion(); +ProtocolVersion BunkerRobot::GetParserProtocolVersion() { + return robot_->GetParserProtocolVersion(); } void BunkerRobot::SetMotionCommand(double linear_vel, double angular_vel) { diff --git a/src/mobile_robot/hunter_robot.cpp b/src/mobile_robot/hunter_robot.cpp index c29d09d..a9e2733 100644 --- a/src/mobile_robot/hunter_robot.cpp +++ b/src/mobile_robot/hunter_robot.cpp @@ -29,8 +29,8 @@ void HunterRobot::Connect(std::string can_name) { robot_->Connect(can_name); } void HunterRobot::ResetRobotState() { robot_->ResetRobotState(); } -ProtocolVersion HunterRobot::GetProtocolVersion() { - return robot_->GetProtocolVersion(); +ProtocolVersion HunterRobot::GetParserProtocolVersion() { + return robot_->GetParserProtocolVersion(); } void HunterRobot::SetMotionCommand(double linear_vel, double angular_vel) { diff --git a/src/mobile_robot/scout_robot.cpp b/src/mobile_robot/scout_robot.cpp index b3664c4..238e0f9 100644 --- a/src/mobile_robot/scout_robot.cpp +++ b/src/mobile_robot/scout_robot.cpp @@ -41,8 +41,8 @@ void ScoutRobot::Connect(std::string uart_name, uint32_t baudrate) { void ScoutRobot::ResetRobotState() { robot_->ResetRobotState(); } -ProtocolVersion ScoutRobot::GetProtocolVersion() { - return robot_->GetProtocolVersion(); +ProtocolVersion ScoutRobot::GetParserProtocolVersion() { + return robot_->GetParserProtocolVersion(); } void ScoutRobot::SetMotionCommand(double linear_vel, double angular_vel) {