ranger_base: add ranger mini v3 support

westonrobot · Oct 9, 2024 · 494d8c4 · 494d8c4
1 parent b7a0208
commit 494d8c4
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Showing 3 changed files with 43 additions and 12 deletions.
diff --git a/include/ugv_sdk/details/robot_base/ranger_base.hpp b/include/ugv_sdk/details/robot_base/ranger_base.hpp
@@ -21,11 +21,11 @@
 #include "ugv_sdk/details/protocol_v2/protocol_v2_parser.hpp"
 
 namespace westonrobot {
-class RangerBaseV2 : public AgilexBase<ProtocolV2Parser>,
+class RangerBase : public AgilexBase<ProtocolV2Parser>,
                      public RangerInterface {
  public:
-  RangerBaseV2() : AgilexBase<ProtocolV2Parser>(){};
-  virtual ~RangerBaseV2() = default;
+  RangerBase() : AgilexBase<ProtocolV2Parser>(){};
+  virtual ~RangerBase() = default;
 
   // set up connection
   bool Connect(std::string can_name) override {
@@ -88,6 +88,30 @@ class RangerBaseV2 : public AgilexBase<ProtocolV2Parser>,
     return ranger_actuator;
   }
 
+  RangerCommonSensorState GetCommonSensorState() override {
+    auto common_sensor =
+        AgilexBase<ProtocolV2Parser>::GetCommonSensorStateMsgGroup();
+
+    RangerCommonSensorState ranger_bms;
+
+    ranger_bms.time_stamp = common_sensor.time_stamp;
+
+    ranger_bms.bms_basic_state.current = common_sensor.bms_basic_state.current;
+    ranger_bms.bms_basic_state.voltage =
+        common_sensor.bms_basic_state.voltage;
+    ranger_bms.bms_basic_state.battery_soc =
+        common_sensor.bms_basic_state.battery_soc;
+    ranger_bms.bms_basic_state.battery_soh =
+        common_sensor.bms_basic_state.battery_soh;
+    ranger_bms.bms_basic_state.temperature =
+        common_sensor.bms_basic_state.temperature;
+
+    return ranger_bms;
+  }
+};
+
+using RangerMiniV3Base = RangerBase;
+class RangerMiniV2Base : public RangerBase {
   RangerCommonSensorState GetCommonSensorState() override {
     auto common_sensor =
         AgilexBase<ProtocolV2Parser>::GetCommonSensorStateMsgGroup();
@@ -111,12 +135,12 @@ class RangerBaseV2 : public AgilexBase<ProtocolV2Parser>,
 
     return ranger_bms;
   }
-};
+}
 
 // Note: Ranger Mini V1 uses a modified AgileX V2 protocol
 // Here we provide a work-around fix as no new firmware will be provided from
 // AgileX to properly fix the issue.
-class RangerMiniV1Base : public RangerBaseV2 {
+class RangerMiniV1Base : public RangerBase {
  public:
   RangerMiniV1Base() : RangerBaseV2(){};
   ~RangerMiniV1Base() = default;

diff --git a/include/ugv_sdk/mobile_robot/ranger_robot.hpp b/include/ugv_sdk/mobile_robot/ranger_robot.hpp
@@ -17,7 +17,14 @@
 namespace westonrobot {
 class RangerRobot : public RobotCommonInterface, public RangerInterface {
  public:
-  RangerRobot(bool is_mini_v1);
+  enum class Variant {
+    kRangerMiniV1 = 0,
+    kRangerMiniV2,
+    kRangerMiniV3,
+    kRanger,
+  }
+
+  RangerRobot(Variant variant);
   ~RangerRobot();
 
   bool Connect(std::string can_name) override;

diff --git a/src/mobile_robot/ranger_robot.cpp b/src/mobile_robot/ranger_robot.cpp
@@ -10,12 +10,12 @@
 #include "ugv_sdk/details/robot_base/ranger_base.hpp"
 
 namespace westonrobot {
-RangerRobot::RangerRobot(bool is_mini_v1) {
-  if (is_mini_v1) {
-    robot_ = new RangerMiniV1Base();
-  } else {
-    robot_ = new RangerBaseV2();
-  }
+RangerRobot::RangerRobot(Variant variant) {
+  // if (is_mini_v1) {
+  //   robot_ = new RangerMiniV1Base();
+  // } else {
+  //   robot_ = new RangerBaseV2();
+  // }
 }
 
 RangerRobot::~RangerRobot() {