mirror of
https://github.com/westonrobot/ugv_sdk
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67 lines
1.5 KiB
C++
67 lines
1.5 KiB
C++
/*
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* tracer_interface.hpp
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*
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* Created on: Jul 08, 2021 09:36
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* Description:
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*
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* Copyright (c) 2021 Weston Robot Pte. Ltd.
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*/
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#ifndef TRACER_INTERFACE_HPP
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#define TRACER_INTERFACE_HPP
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#include <string>
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#include "ugv_sdk/interface/agilex_message.h"
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namespace westonrobot {
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struct TracerState {
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// system state
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SystemStateMessage system_state;
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MotionStateMessage motion_state;
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LightStateMessage light_state;
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RcStateMessage rc_state;
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ActuatorHSStateMessage actuator_hs_state[2];
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ActuatorLSStateMessage actuator_ls_state[2];
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// sensor data
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OdometryMessage odometry;
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};
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struct TracerMotionCmd {
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double linear_velocity;
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double angular_velocity;
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};
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struct TracerLightCmd {
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TracerLightCmd() = default;
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TracerLightCmd(LightMode f_mode, uint8_t f_value)
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: cmd_ctrl_allowed(true),
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front_mode(f_mode),
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front_custom_value(f_value) {}
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bool cmd_ctrl_allowed = false;
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LightMode front_mode;
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uint8_t front_custom_value;
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};
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/////////////////////////////////////////////////////////////////////////
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struct TracerInterface {
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// set up connection
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virtual void Connect(std::string can_name) = 0;
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virtual void Connect(std::string uart_name, uint32_t baudrate) = 0;
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// robot control
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virtual void SetMotionCommand(double linear_vel, double angular_vel) = 0;
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virtual void SetLightCommand(const TracerLightCmd &cmd) = 0;
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// get robot state
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virtual TracerState GetTracerState() = 0;
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};
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} // namespace westonrobot
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#endif /* TRACER_INTERFACE_HPP */
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