Merge pull request #66 from westonrobot/feature-bunker_support

src: updated bunker robot interface
westonrobot · Jan 7, 2025 · 6628233 · 6628233
2 parents 3019a4a + d5f1cab
commit 6628233
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Showing 5 changed files with 54 additions and 17 deletions.
diff --git a/include/ugv_sdk/details/interface/bunker_interface.hpp b/include/ugv_sdk/details/interface/bunker_interface.hpp
@@ -1,12 +1,10 @@
-/*
- * bunker_interface.hpp
- *
- * Created on: Jul 14, 2021 23:04
- * Description:
- *
- * Copyright (c) 2021 Ruixiang Du (rdu)
+/**
+ * @file bunker_interface.hpp
+ * @brief Bunker robot common interface
+ * @date 06-01-2025
+ * 
+ * @copyright Copyright (c) 2025 Weston Robot Pte. Ltd.
  */
-
 #ifndef BUNKER_INTERFACE_HPP
 #define BUNKER_INTERFACE_HPP
 
@@ -34,6 +32,12 @@ struct BunkerActuatorState {
   ActuatorStateMessageV1 actuator_state[2];
 };
 
+struct BunkerCommonSensorState {
+  SdkTimePoint time_stamp;
+
+  BmsBasicMessage bms_basic_state;
+};
+
 struct BunkerInterface {
   virtual ~BunkerInterface() = default;
 
@@ -42,6 +46,7 @@ struct BunkerInterface {
   // get robot state
   virtual BunkerCoreState GetRobotState() = 0;
   virtual BunkerActuatorState GetActuatorState() = 0;
+  virtual BunkerCommonSensorState GetCommonSensorState() = 0;
 };
 }  // namespace westonrobot
 

diff --git a/include/ugv_sdk/details/robot_base/bunker_base.hpp b/include/ugv_sdk/details/robot_base/bunker_base.hpp
@@ -22,7 +22,7 @@ namespace westonrobot {
 template <typename ParserType>
 class BunkerBase : public AgilexBase<ParserType>, public BunkerInterface {
  public:
-  BunkerBase() : AgilexBase<ParserType>(){};
+  BunkerBase() : AgilexBase<ParserType>() {};
   ~BunkerBase() = default;
 
   // set up connection
@@ -60,6 +60,10 @@ class BunkerBase : public AgilexBase<ParserType>, public BunkerInterface {
     }
     return bunker_actuator;
   }
+
+  BunkerCommonSensorState GetCommonSensorState() override {
+    return BunkerCommonSensorState();
+  }
 };
 }  // namespace westonrobot
 
@@ -69,6 +73,18 @@ class BunkerBase : public AgilexBase<ParserType>, public BunkerInterface {
 namespace westonrobot {
 using BunkerBaseV1 = BunkerBase<BunkerProtocolV1Parser>;
 using BunkerBaseV2 = BunkerBase<ProtocolV2Parser>;
+using BunkerPro = BunkerBase<ProtocolV2Parser>;
+
+class BunkerMini : public BunkerBase<ProtocolV2Parser> {
+  BunkerCommonSensorState GetCommonSensorState() override {
+    auto sensor = AgilexBase<ProtocolV2Parser>::GetCommonSensorStateMsgGroup();
+
+    BunkerCommonSensorState bunker_sensor;
+    bunker_sensor.time_stamp = sensor.time_stamp;
+    bunker_sensor.bms_basic_state = sensor.bms_basic_state;
+    return bunker_sensor;
+  }
+};
 }  // namespace westonrobot
 
 #endif /* BUNKER_BASE_HPP */
diff --git a/include/ugv_sdk/mobile_robot/bunker_robot.hpp b/include/ugv_sdk/mobile_robot/bunker_robot.hpp
@@ -18,14 +18,19 @@
 namespace westonrobot {
 class BunkerRobot : public RobotCommonInterface, public BunkerInterface {
  public:
-  BunkerRobot(ProtocolVersion protocol = ProtocolVersion::AGX_V2);
+  enum class Variant {
+    kBunkerV1 = 0,
+    kBunkerV2,
+    kBunkerPro,
+    kBunkerMini,
+  };
+  BunkerRobot(Variant variant);
   ~BunkerRobot();
 
   bool Connect(std::string can_name) override;
 
-  std::string RequestVersion(int timeout_sec = 3) override;
-
   void EnableCommandedMode() override;
+  std::string RequestVersion(int timeout_sec = 3) override;
 
   void SetMotionCommand(double linear_vel, double angular_vel) override;
 
@@ -36,6 +41,7 @@ class BunkerRobot : public RobotCommonInterface, public BunkerInterface {
   // get robot state
   BunkerCoreState GetRobotState() override;
   BunkerActuatorState GetActuatorState() override;
+  BunkerCommonSensorState GetCommonSensorState() override;
 
  private:
   RobotCommonInterface* robot_;

diff --git a/sample/bunker_demo/bunker_robot_demo.cpp b/sample/bunker_demo/bunker_robot_demo.cpp
@@ -35,10 +35,10 @@ int main(int argc, char **argv) {
   std::unique_ptr<BunkerRobot> bunker;
   if (protocol_version == "v1") {
     bunker =
-        std::unique_ptr<BunkerRobot>(new BunkerRobot(ProtocolVersion::AGX_V1));
+        std::unique_ptr<BunkerRobot>(new BunkerRobot(BunkerRobot::Variant::kBunkerV1));
   } else if (protocol_version == "v2") {
     bunker =
-        std::unique_ptr<BunkerRobot>(new BunkerRobot(ProtocolVersion::AGX_V2));
+        std::unique_ptr<BunkerRobot>(new BunkerRobot(BunkerRobot::Variant::kBunkerV2));
   } else {
     std::cout << "Error: invalid protocol version string" << std::endl;
     return -1;

diff --git a/src/mobile_robot/bunker_robot.cpp b/src/mobile_robot/bunker_robot.cpp
@@ -11,11 +11,15 @@
 #include "ugv_sdk/details/robot_base/bunker_base.hpp"
 
 namespace westonrobot {
-BunkerRobot::BunkerRobot(ProtocolVersion protocol) {
-  if (protocol == ProtocolVersion::AGX_V1) {
+BunkerRobot::BunkerRobot(Variant variant) {
+  if (variant == Variant::kBunkerV1) {
     robot_ = new BunkerBaseV1();
-  } else if (protocol == ProtocolVersion::AGX_V2) {
+  } else if (variant == Variant::kBunkerV2) {
     robot_ = new BunkerBaseV2();
+  } else if (variant == Variant::kBunkerPro) {
+    robot_ = new BunkerPro();
+  } else if (variant == Variant::kBunkerMini) {
+    robot_ = new BunkerMini();
   }
 }
 
@@ -53,4 +57,10 @@ BunkerActuatorState BunkerRobot::GetActuatorState() {
   auto bunker = dynamic_cast<BunkerInterface*>(robot_);
   return bunker->GetActuatorState();
 }
+
+BunkerCommonSensorState BunkerRobot::GetCommonSensorState() {
+  auto bunker = dynamic_cast<BunkerInterface*>(robot_);
+  return bunker->GetCommonSensorState();
+}
+
 }  // namespace westonrobot