removed tracer robot class, added rc state func for scout

CMakeLists.txt

@@ -88,7 +88,7 @@ add_library(${PROJECT_NAME}
     ########################
     ## public interface to access robot
     src/mobile_robot/scout_robot.cpp
-    src/mobile_robot/tracer_robot.cpp
+    # src/mobile_robot/tracer_robot.cpp
     ########################
     ## protocol v2 support
     src/protocol_v2/agilex_msg_parser_v2.c

demo/CMakeLists.txt

@@ -1,6 +1,7 @@
 # demo
 add_subdirectory(scout_demo)
 add_subdirectory(tracer_demo)
+
 # add_executable(app_hunter_demo hunter_demo/hunter_demo.cpp)
 # target_link_libraries(app_hunter_demo ugv_sdk)
 

include/ugv_sdk/details/interface/scout_interface.hpp

@@ -37,6 +37,9 @@ struct ScoutInterface {
 
   // get robot state
   virtual ScoutState GetRobotState() = 0;
+  virtual RcStateMessage GetRcState(){
+      // TODO
+  };
 };
 }  // namespace westonrobot
 

include/ugv_sdk/details/robot_base/scout_base.hpp

@@ -52,20 +52,32 @@ class ScoutBase : public AgilexBase<Parser>, public ScoutInterface {
     return scout_state_;
   }
 
+  RcStateMessage GetRcState() override {}
+
   void ResetRobotState() override {
-    // TODO
+    std::lock_guard<std::mutex> guard(rc_state_mutex_);
   }
 
  private:
   ScoutState scout_state_;
+  RcStateMessage rc_state_;
+  std::mutex rc_state_mutex_;
 
   void ParseCANFrame(can_frame *rx_frame) override {
     AgxMessage status_msg;
     if (AgilexBase<Parser>::parser_.DecodeMessage(rx_frame, &status_msg)) {
-      UpdateScoutState(status_msg, scout_state_);
+      if (status_msg.type == AgxMsgRcState)
+        UpdateRcState(status_msg);
+      else
+        UpdateScoutState(status_msg, scout_state_);
     }
   }
 
+  void UpdateRcState(const AgxMessage &status_msg) {
+    std::lock_guard<std::mutex> guard(rc_state_mutex_);
+    rc_state_ = status_msg.body.rc_state_msg;
+  }
+
   void UpdateScoutState(const AgxMessage &status_msg, ScoutState &state) {
     std::lock_guard<std::mutex> guard(AgilexBase<Parser>::state_mutex_);
     switch (status_msg.type) {
@@ -104,10 +116,6 @@ class ScoutBase : public AgilexBase<Parser>, public ScoutInterface {
             status_msg.body.v1_actuator_state_msg;
         break;
       }
-        //   case AgxMsgRcState: {
-        //     state.rc_state = status_msg.body.rc_state_msg;
-        //     break;
-        //   }
         /* sensor feedback */
         //   case AgxMsgOdometry: {
         //     // std::cout << "Odometer msg feedback received" << std::endl;

include/ugv_sdk/mobile_robot/tracer_robot.hpp

@@ -10,39 +10,10 @@
 #ifndef TRACER_ROBOT_HPP
 #define TRACER_ROBOT_HPP
 
-#include <memory>
+#include "ugv_sdk/details/robot_base/tracer_base.hpp"
-
-#include "ugv_sdk/details/interface/robot_interface.hpp"
-#include "ugv_sdk/details/interface/tracer_interface.hpp"
-
-// #include "ugv_sdk/details/robot_base/tracer_base.hpp"
 
 namespace westonrobot {
-// using TracerRobot = TracerBaseV2();
+using TracerRobot = TracerBaseV2;
-class TracerRobot : public RobotInterface, public TracerInterface {
- public:
-  TracerRobot();
-  ~TracerRobot();
-
-  void Connect(std::string can_name) override;
-  void Connect(std::string uart_name, uint32_t baudrate) override;
-
-  void EnableCommandedMode() override;
-
-  void SetMotionCommand(double linear_vel, double angular_vel) override;
-  void SetLightCommand(LightMode f_mode, uint8_t f_value) override;
-  void DisableLightControl() override;
-
-  void ResetRobotState() override;
-
-  ProtocolVersion GetProtocolVersion() override;
-
-  // get robot state
-  TracerState GetRobotState() override;
-
- private:
-  RobotInterface* robot_;
-};
 }  // namespace westonrobot
 
 #endif /* TRACER_ROBOT_HPP */

src/mobile_robot/tracer_robot.cpp

@@ -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