mirror of
https://github.com/westonrobot/ugv_sdk
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83 lines
1.9 KiB
C++
83 lines
1.9 KiB
C++
/**
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* @Kit : Qt-Creator: Desktop
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* @Author : Wang Zhe
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* @Date : 2021-04-19 19:12:52
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* @FileName : ranger_base.hpp
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* @Mail : wangzheqie@qq.com
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* Copyright : AgileX Robotics
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**/
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#ifndef RANGER_BASE_HPP
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#define RANGER_BASE_HPP
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#include <cstdint>
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#include <mutex>
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#include <string>
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#include <thread>
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#include "ugv_sdk/agilex_base.hpp"
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namespace westonrobot {
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struct RangerState {
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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[4];
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ActuatorLSStateMessage actuator_ls_state[4];
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// sensor data
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OdometryMessage odometry;
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};
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struct RangerMotionCmd {
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double linear_velocity;
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double angular_velocity;
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};
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struct RangerLightCmd {
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RangerLightCmd() = default;
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RangerLightCmd(LightMode f_mode, uint8_t f_value, LightMode r_mode,
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uint8_t r_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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rear_mode(r_mode),
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rear_custom_value(r_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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LightMode rear_mode;
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uint8_t rear_custom_value;
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};
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/////////////////////////////////////////////////////////////////////////
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class RangerBase : public AgilexBase {
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public:
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RangerBase() : AgilexBase(){};
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~RangerBase() = default;
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// set up connection
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void Connect(std::string dev_name) override;
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// robot control
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void SetMotionCommand(double linear_vel, double angular_vel);
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void SetLightCommand(const RangerLightCmd &cmd);
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// get robot state
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RangerState GetRangerState();
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private:
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RangerState ranger_state_;
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void ParseCANFrame(can_frame *rx_frame) override;
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void UpdateRangerState(const AgxMessage &status_msg, RangerState &state);
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};
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} // namespace westonrobot
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#endif // RANGER_BASE_HPP
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