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

renamed GetProtocolVersion() to GetParserProtocolVersion()

Browse Source
This commit is contained in:
Ruixiang Du
2021-07-15 13:34:22 +08:00
parent 541ec08514
commit e96b078c05
12 changed files with 22 additions and 21 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
demo/bunker_demo/bunker_robot_demo.cpp
View File

@@ -49,7 +49,7 @@ int main(int argc, char **argv) {
bunker->Connect(device_name); bunker->Connect(device_name);
if (bunker->GetProtocolVersion() == ProtocolVersion::AGX_V2) { if (bunker->GetParserProtocolVersion() == ProtocolVersion::AGX_V2) {
bunker->EnableCommandedMode(); bunker->EnableCommandedMode();
std::cout << "Protocol version 2" << std::endl; std::cout << "Protocol version 2" << std::endl;
} else { } else {

4
demo/hunter_demo/hunter_robot_demo.cpp
View File

@@ -49,7 +49,7 @@ int main(int argc, char **argv) {
hunter->Connect(device_name); hunter->Connect(device_name);
if (hunter->GetProtocolVersion() == ProtocolVersion::AGX_V2) { if (hunter->GetParserProtocolVersion() == ProtocolVersion::AGX_V2) {
hunter->EnableCommandedMode(); hunter->EnableCommandedMode();
std::cout << "Protocol version 2" << std::endl; std::cout << "Protocol version 2" << std::endl;
} else { } else {
@@ -78,7 +78,7 @@ int main(int argc, char **argv) {
<< state.motion_state.angular_velocity << std::endl; << state.motion_state.angular_velocity << std::endl;
auto actuator = hunter->GetActuatorState(); auto actuator = hunter->GetActuatorState();
if (hunter->GetProtocolVersion() == ProtocolVersion::AGX_V1) { if (hunter->GetParserProtocolVersion() == ProtocolVersion::AGX_V1) {
for (int i = 0; i < 3; ++i) { for (int i = 0; i < 3; ++i) {
printf("motor %d: current %f, rpm %d, driver temp %f, motor temp %f\n", printf("motor %d: current %f, rpm %d, driver temp %f, motor temp %f\n",
actuator.actuator_state[i].motor_id, actuator.actuator_state[i].motor_id,

4
demo/scout_demo/scout_robot_demo.cpp
View File

@@ -49,7 +49,7 @@ int main(int argc, char **argv) {
scout->Connect(device_name); scout->Connect(device_name);
if (scout->GetProtocolVersion() == ProtocolVersion::AGX_V2) { if (scout->GetParserProtocolVersion() == ProtocolVersion::AGX_V2) {
scout->EnableCommandedMode(); scout->EnableCommandedMode();
std::cout << "Protocol version 2" << std::endl; std::cout << "Protocol version 2" << std::endl;
} else { } else {
@@ -95,7 +95,7 @@ int main(int argc, char **argv) {
<< state.motion_state.angular_velocity << std::endl; << state.motion_state.angular_velocity << std::endl;
auto actuator = scout->GetActuatorState(); auto actuator = scout->GetActuatorState();
if (scout->GetProtocolVersion() == ProtocolVersion::AGX_V1) { if (scout->GetParserProtocolVersion() == ProtocolVersion::AGX_V1) {
for (int i = 0; i < 4; ++i) { for (int i = 0; i < 4; ++i) {
printf("motor %d: current %f, rpm %d, driver temp %f, motor temp %f\n", printf("motor %d: current %f, rpm %d, driver temp %f, motor temp %f\n",
actuator.actuator_state[i].motor_id, actuator.actuator_state[i].motor_id,

4
include/ugv_sdk/details/interface/parser_interface.hpp
View File

@@ -26,7 +26,7 @@ struct can_frame {
#include "ugv_sdk/details/interface/agilex_message.h" #include "ugv_sdk/details/interface/agilex_message.h"
enum class ProtocolVersion { AGX_V1, AGX_V2 }; enum class ProtocolVersion { UNKONWN, AGX_V1, AGX_V2 };
template <ProtocolVersion VersionNumber = ProtocolVersion::AGX_V2> template <ProtocolVersion VersionNumber = ProtocolVersion::AGX_V2>
class ParserInterface { class ParserInterface {
@@ -54,7 +54,7 @@ class ParserInterface {
return 0; return 0;
}; };
ProtocolVersion GetProtocolVersion() { return VersionNumber; } ProtocolVersion GetParserProtocolVersion() { return VersionNumber; }
}; };
#endif /* PASER_INTERFACE_HPP */ #endif /* PASER_INTERFACE_HPP */

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

@@ -50,7 +50,7 @@ class RobotCommonInterface {
// do nothing if no light on robot // do nothing if no light on robot
} }
virtual ProtocolVersion GetProtocolVersion() = 0; virtual ProtocolVersion GetParserProtocolVersion() = 0;
protected: protected:
/****** functions not available/valid to all robots ******/ /****** functions not available/valid to all robots ******/

9
include/ugv_sdk/details/robot_base/agilex_base.hpp
View File

@@ -60,7 +60,7 @@ class AgilexBase : public RobotCommonInterface {
if (can_connected_) { if (can_connected_) {
// motion control message // motion control message
AgxMessage msg; AgxMessage msg;
if (parser_.GetProtocolVersion() == ProtocolVersion::AGX_V1) { if (parser_.GetParserProtocolVersion() == ProtocolVersion::AGX_V1) {
msg.type = AgxMsgMotionCommandV1; msg.type = AgxMsgMotionCommandV1;
msg.body.v1_motion_command_msg.control_mode = CONTROL_MODE_CAN; msg.body.v1_motion_command_msg.control_mode = CONTROL_MODE_CAN;
msg.body.v1_motion_command_msg.clear_all_error = false; 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 std::abs(angular_vel) > std::abs(steering_angle) ? angular_vel
: steering_angle; : steering_angle;
msg.body.v1_motion_command_msg.lateral = lateral_velocity; 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.type = AgxMsgMotionCommand;
msg.body.motion_command_msg.linear_velocity = linear_vel; msg.body.motion_command_msg.linear_velocity = linear_vel;
msg.body.motion_command_msg.angular_velocity = angular_vel; msg.body.motion_command_msg.angular_velocity = angular_vel;
@@ -133,8 +134,8 @@ class AgilexBase : public RobotCommonInterface {
void ResetRobotState() override {} void ResetRobotState() override {}
ProtocolVersion GetProtocolVersion() override { ProtocolVersion GetParserProtocolVersion() override {
return parser_.GetProtocolVersion(); return parser_.GetParserProtocolVersion();
} }
CoreStateMsgGroup GetRobotCoreStateMsgGroup() override { CoreStateMsgGroup GetRobotCoreStateMsgGroup() override {

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

@@ -29,7 +29,7 @@ class BunkerRobot : public RobotCommonInterface, public BunkerInterface {
void ResetRobotState() override; void ResetRobotState() override;
ProtocolVersion GetProtocolVersion() override; ProtocolVersion GetParserProtocolVersion() override;
// get robot state // get robot state
BunkerCoreState GetRobotState() override; BunkerCoreState GetRobotState() override;

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

@@ -29,7 +29,7 @@ class HunterRobot : public RobotCommonInterface, public HunterInterface {
void ResetRobotState() override; void ResetRobotState() override;
ProtocolVersion GetProtocolVersion() override; ProtocolVersion GetParserProtocolVersion() override;
// get robot state // get robot state
HunterCoreState GetRobotState() override; HunterCoreState GetRobotState() override;

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

@@ -34,7 +34,7 @@ class ScoutRobot : public RobotCommonInterface, public ScoutInterface {
void ResetRobotState() override; void ResetRobotState() override;
ProtocolVersion GetProtocolVersion() override; ProtocolVersion GetParserProtocolVersion() override;
// get robot state // get robot state
ScoutCoreState GetRobotState() override; ScoutCoreState GetRobotState() override;

4
src/mobile_robot/bunker_robot.cpp
View File

@@ -29,8 +29,8 @@ void BunkerRobot::Connect(std::string can_name) { robot_->Connect(can_name); }
void BunkerRobot::ResetRobotState() { robot_->ResetRobotState(); } void BunkerRobot::ResetRobotState() { robot_->ResetRobotState(); }
ProtocolVersion BunkerRobot::GetProtocolVersion() { ProtocolVersion BunkerRobot::GetParserProtocolVersion() {
return robot_->GetProtocolVersion(); return robot_->GetParserProtocolVersion();
} }
void BunkerRobot::SetMotionCommand(double linear_vel, double angular_vel) { void BunkerRobot::SetMotionCommand(double linear_vel, double angular_vel) {

4
src/mobile_robot/hunter_robot.cpp
View File

@@ -29,8 +29,8 @@ void HunterRobot::Connect(std::string can_name) { robot_->Connect(can_name); }
void HunterRobot::ResetRobotState() { robot_->ResetRobotState(); } void HunterRobot::ResetRobotState() { robot_->ResetRobotState(); }
ProtocolVersion HunterRobot::GetProtocolVersion() { ProtocolVersion HunterRobot::GetParserProtocolVersion() {
return robot_->GetProtocolVersion(); return robot_->GetParserProtocolVersion();
} }
void HunterRobot::SetMotionCommand(double linear_vel, double angular_vel) { void HunterRobot::SetMotionCommand(double linear_vel, double angular_vel) {

4
src/mobile_robot/scout_robot.cpp
View File

@@ -41,8 +41,8 @@ void ScoutRobot::Connect(std::string uart_name, uint32_t baudrate) {
void ScoutRobot::ResetRobotState() { robot_->ResetRobotState(); } void ScoutRobot::ResetRobotState() { robot_->ResetRobotState(); }
ProtocolVersion ScoutRobot::GetProtocolVersion() { ProtocolVersion ScoutRobot::GetParserProtocolVersion() {
return robot_->GetProtocolVersion(); return robot_->GetParserProtocolVersion();
} }
void ScoutRobot::SetMotionCommand(double linear_vel, double angular_vel) { void ScoutRobot::SetMotionCommand(double linear_vel, double angular_vel) {