mirror of
https://github.com/westonrobot/ugv_sdk
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57 lines
1.4 KiB
C++
57 lines
1.4 KiB
C++
/*
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* scout_interface.hpp
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*
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* Created on: Jul 08, 2021 12:02
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* Description: Scout-specific interface
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*
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* Copyright (c) 2021 Weston Robot Pte. Ltd.
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*/
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#ifndef SCOUT_INTERFACE_HPP
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#define SCOUT_INTERFACE_HPP
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#include <string>
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#include "ugv_sdk/details/interface/agilex_message.h"
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#include "ugv_sdk/details/interface/robot_common_interface.hpp"
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namespace westonrobot {
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struct ScoutCoreState {
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AgxMsgTimeStamp time_stamp;
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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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};
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struct ScoutActuatorState {
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AgxMsgTimeStamp time_stamp;
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// actuator state
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// - for v2 robots only
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ActuatorHSStateMessage actuator_hs_state[4];
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ActuatorLSStateMessage actuator_ls_state[4];
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// - for v1 robots only
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ActuatorStateMessageV1 actuator_state[4];
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};
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struct ScoutInterface {
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virtual ~ScoutInterface() = default;
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virtual void Connect(std::string uart_name, uint32_t baudrate){
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// use derived version
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};
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virtual void SetMotionCommand(double linear_vel, double angular_vel) = 0;
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virtual void SetLightCommand(LightMode f_mode, uint8_t f_value,
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LightMode r_mode, uint8_t r_value) = 0;
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// get robot state
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virtual ScoutCoreState GetRobotState() = 0;
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virtual ScoutActuatorState GetActuatorState() = 0;
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};
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} // namespace westonrobot
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#endif /* SCOUT_INTERFACE_HPP */
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