mirror of
https://github.com/westonrobot/ugv_sdk
synced 2023-04-08 06:32:14 +08:00
101 lines
3.0 KiB
C++
101 lines
3.0 KiB
C++
/*
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* hunter_robot_demo.cpp
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*
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* Created on: Jul 08, 2021 11:12
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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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#include <unistd.h>
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#include <memory>
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#include <iostream>
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#include "ugv_sdk/mobile_robot/hunter_robot.hpp"
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#include "ugv_sdk/utilities/protocol_detector.hpp"
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using namespace westonrobot;
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int main(int argc, char **argv) {
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std::string device_name;
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if (argc == 2) {
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device_name = {argv[1]};
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std::cout << "Selected interface " << device_name << std::endl;
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} else {
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std::cout << "Usage: app_hunter_demo <interface>" << std::endl
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<< "Example 1: ./app_hunter_demo can0" << std::endl;
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return -1;
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}
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std::unique_ptr<HunterRobot> hunter;
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ProtocolDectctor detector;
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detector.Connect(device_name);
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auto proto = detector.DetectProtocolVersion(5);
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if (proto == ProtocolVersion::AGX_V1) {
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hunter =
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std::unique_ptr<HunterRobot>(new HunterRobot(ProtocolVersion::AGX_V1));
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} else if (proto == ProtocolVersion::AGX_V2) {
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hunter =
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std::unique_ptr<HunterRobot>(new HunterRobot(ProtocolVersion::AGX_V2));
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} else {
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std::cout << "Detected protocol: UNKONWN" << std::endl;
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return -1;
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}
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if (hunter == nullptr)
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std::cout << "Failed to create robot object" << std::endl;
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hunter->Connect(device_name);
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if (hunter->GetParserProtocolVersion() == ProtocolVersion::AGX_V2) {
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hunter->EnableCommandedMode();
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std::cout << "Protocol version 2" << std::endl;
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} else {
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std::cout << "Protocol version 1" << std::endl;
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}
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int count = 0;
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while (true) {
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// motion control
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std::cout << "Motor: 1.0, 0" << std::endl;
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// hunter->SetMotionCommand(1.0, 0.0);
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// get robot state
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auto state = hunter->GetRobotState();
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std::cout << "-------------------------------" << std::endl;
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std::cout << "count: " << count << std::endl;
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std::cout << "control mode: "
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<< static_cast<int>(state.system_state.control_mode)
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<< " , vehicle state: "
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<< static_cast<int>(state.system_state.vehicle_state)
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<< " , error code: " << std::hex << state.system_state.error_code
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<< ", battery voltage: " << state.system_state.battery_voltage
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<< std::endl;
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std::cout << "velocity (linear, angular): "
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<< state.motion_state.linear_velocity << ", "
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<< state.motion_state.steering_angle << std::endl;
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auto actuator = hunter->GetActuatorState();
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if (hunter->GetParserProtocolVersion() == ProtocolVersion::AGX_V1) {
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for (int i = 0; i < 3; ++i) {
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printf("motor %d: current %f, rpm %d, driver temp %f, motor temp %f\n",
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actuator.actuator_state[i].motor_id,
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actuator.actuator_state[i].current,
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actuator.actuator_state[i].rpm,
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actuator.actuator_state[i].driver_temp,
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actuator.actuator_state[i].motor_temp);
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}
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} else {
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}
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std::cout << "-------------------------------" << std::endl;
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usleep(20000);
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++count;
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}
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return 0;
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} |