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removed tracer robot class, added rc state func for scout

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This commit is contained in:
Ruixiang Du
2021-07-14 09:20:37 +08:00
parent 0462c9e5c0
commit f67d183d47
6 changed files with 21 additions and 90 deletions
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52
src/mobile_robot/tracer_robot.cpp
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@@ -1,52 +0,0 @@
/*
* tracer_robot.cpp
*
* Created on: Jul 13, 2021 22:13
* Description:
*
* Copyright (c) 2021 Weston Robot Pte. Ltd.
*/
#include "ugv_sdk/mobile_robot/tracer_robot.hpp"
#include "ugv_sdk/details/robot_base/tracer_base.hpp"
namespace westonrobot {
TracerRobot::TracerRobot() {
robot_ = new TracerBaseV2();
}
TracerRobot::~TracerRobot() {
if (robot_) delete robot_;
}
void TracerRobot::EnableCommandedMode() { robot_->EnableCommandedMode(); }
void TracerRobot::Connect(std::string can_name) { robot_->Connect(can_name); }
void TracerRobot::Connect(std::string uart_name, uint32_t baudrate) {
robot_->Connect(uart_name, baudrate);
}
void TracerRobot::ResetRobotState() { robot_->ResetRobotState(); }
ProtocolVersion TracerRobot::GetProtocolVersion() {
return robot_->GetProtocolVersion();
}
void TracerRobot::SetMotionCommand(double linear_vel, double angular_vel) {
auto tracer = dynamic_cast<TracerInterface*>(robot_);
tracer->SetMotionCommand(linear_vel, angular_vel);
}
void TracerRobot::DisableLightControl() { robot_->DisableLightControl(); }
void TracerRobot::SetLightCommand(LightMode f_mode, uint8_t f_value) {
auto tracer = dynamic_cast<TracerInterface*>(robot_);
tracer->SetLightCommand(f_mode, f_value);
}
TracerState TracerRobot::GetRobotState() {
auto tracer = dynamic_cast<TracerInterface*>(robot_);
return tracer->GetRobotState();
}
} // namespace westonrobot