src: rename sensorstate to commonsensorstate

westonrobot · Jan 15, 2024 · f467e9b · f467e9b
1 parent 8c97c60
commit f467e9b
Show file tree

Hide file tree

Showing 10 changed files with 22 additions and 22 deletions.
diff --git a/include/ugv_sdk/details/interface/hunter_interface.hpp b/include/ugv_sdk/details/interface/hunter_interface.hpp
@@ -34,7 +34,7 @@ struct HunterActuatorState {
   ActuatorStateMessageV1 actuator_state[3];
 };
 
-struct HunterSensorState {
+struct HunterCommonSensorState {
   SdkTimePoint time_stamp;
 
   BmsBasicMessage bms_basic_state;
@@ -52,7 +52,7 @@ struct HunterInterface {
   // get robot state
   virtual HunterCoreState GetRobotState() = 0;
   virtual HunterActuatorState GetActuatorState() = 0;
-  virtual HunterSensorState GetSensorState() = 0;
+  virtual HunterCommonSensorState GetCommonSensorState() = 0;
 };
 }  // namespace westonrobot
 

diff --git a/include/ugv_sdk/details/interface/ranger_interface.hpp b/include/ugv_sdk/details/interface/ranger_interface.hpp
@@ -39,7 +39,7 @@ struct RangerActuatorState {
   ActuatorLSStateMessage actuator_ls_state[8];
 };
 
-struct RangerSensorState {
+struct RangerCommonSensorState {
   SdkTimePoint time_stamp;
 
   BmsBasicMessage bms_basic_state;
@@ -69,7 +69,7 @@ struct RangerInterface {
   // get robot state
   virtual RangerCoreState GetRobotState() = 0;
   virtual RangerActuatorState GetActuatorState() = 0;
-  virtual RangerSensorState GetSensorState() = 0;
+  virtual RangerCommonSensorState GetCommonSensorState() = 0;
 };
 }  // namespace westonrobot
 

diff --git a/include/ugv_sdk/details/interface/scout_interface.hpp b/include/ugv_sdk/details/interface/scout_interface.hpp
@@ -36,7 +36,7 @@ struct ScoutActuatorState {
   ActuatorStateMessageV1 actuator_state[4];
 };
 
-struct ScoutSensorState {
+struct ScoutCommonSensorState {
   SdkTimePoint time_stamp;
 
   BmsBasicMessage bms_basic_state;

diff --git a/include/ugv_sdk/details/robot_base/agilex_base.hpp b/include/ugv_sdk/details/robot_base/agilex_base.hpp
@@ -44,7 +44,7 @@ struct ActuatorStateMsgGroup {
   MotorSpeedMessage motor_speeds;  // ranger only
 };
 
-struct SensorStateMsgGroup {
+struct CommonSensorStateMsgGroup {
   SdkTimePoint time_stamp;
   BmsBasicMessage bms_basic_state;
   BmsExtendedMessage bms_extend_state;
@@ -183,7 +183,7 @@ class AgilexBase : public RobotCommonInterface {
     return actuator_state_msgs_;
   }
 
-  SensorStateMsgGroup GetSensorStateMsgGroup() {
+  CommonSensorStateMsgGroup GetCommonSensorStateMsgGroup() {
     std::lock_guard<std::mutex> guard(common_sensor_state_mtx_);
     return common_sensor_state_msgs_;
   }
@@ -205,7 +205,7 @@ class AgilexBase : public RobotCommonInterface {
 
   /* feedback group 3: common sensor */
   std::mutex common_sensor_state_mtx_;
-  SensorStateMsgGroup common_sensor_state_msgs_;
+  CommonSensorStateMsgGroup common_sensor_state_msgs_;
 
   std::mutex version_str_buf_mtx_;
   std::string version_string_buffer_;
@@ -279,7 +279,7 @@ class AgilexBase : public RobotCommonInterface {
     if (parser_.DecodeMessage(rx_frame, &status_msg)) {
       UpdateRobotCoreState(status_msg);
       UpdateActuatorState(status_msg);
-      UpdateSensorState(status_msg);
+      UpdateCommonSensorState(status_msg);
       UpdateResponseVersion(status_msg);
     }
   }
@@ -381,7 +381,7 @@ class AgilexBase : public RobotCommonInterface {
     }
   }
 
-  void UpdateSensorState(const AgxMessage &status_msg) {
+  void UpdateCommonSensorState(const AgxMessage &status_msg) {
     std::lock_guard<std::mutex> guard(common_sensor_state_mtx_);
     //    std::cout << common_sensor_state_msgs_.bms_basic_state.battery_soc<<
     //    std::endl;

diff --git a/include/ugv_sdk/details/robot_base/hunter_base.hpp b/include/ugv_sdk/details/robot_base/hunter_base.hpp
@@ -61,11 +61,11 @@ class HunterBase : public AgilexBase<ParserType>, public HunterInterface {
     return hunter_actuator;
   }
 
-  HunterSensorState GetSensorState() override {
+  HunterCommonSensorState GetCommonSensorState() override {
     auto common_sensor =
-        AgilexBase<ParserType>::GetSensorStateMsgGroup();
+        AgilexBase<ParserType>::GetCommonSensorStateMsgGroup();
 
-    HunterSensorState hunter_bms;
+    HunterCommonSensorState hunter_bms;
 
     hunter_bms.time_stamp = common_sensor.time_stamp;
 

diff --git a/include/ugv_sdk/details/robot_base/ranger_base.hpp b/include/ugv_sdk/details/robot_base/ranger_base.hpp
@@ -100,11 +100,11 @@ class RangerBaseV2 : public AgilexBase<ProtocolV2Parser>,
     return ranger_actuator;
   }
 
-  RangerSensorState GetSensorState() override {
+  RangerCommonSensorState GetCommonSensorState() override {
     auto common_sensor =
-        AgilexBase<ProtocolV2Parser>::GetSensorStateMsgGroup();
+        AgilexBase<ProtocolV2Parser>::GetCommonSensorStateMsgGroup();
 
-    RangerSensorState ranger_bms;
+    RangerCommonSensorState ranger_bms;
 
     ranger_bms.time_stamp = common_sensor.time_stamp;
 

diff --git a/include/ugv_sdk/mobile_robot/hunter_robot.hpp b/include/ugv_sdk/mobile_robot/hunter_robot.hpp
@@ -39,7 +39,7 @@ class HunterRobot : public RobotCommonInterface, public HunterInterface {
   // get robot state
   HunterCoreState GetRobotState() override;
   HunterActuatorState GetActuatorState() override;
-  HunterSensorState GetSensorState() override;
+  HunterCommonSensorState GetCommonSensorState() override;
 
  private:
   RobotCommonInterface* robot_;

diff --git a/include/ugv_sdk/mobile_robot/ranger_robot.hpp b/include/ugv_sdk/mobile_robot/ranger_robot.hpp
@@ -44,7 +44,7 @@ class RangerRobot : public RobotCommonInterface, public RangerInterface {
   // get robot state
   RangerCoreState GetRobotState() override;
   RangerActuatorState GetActuatorState() override;
-  RangerSensorState GetSensorState() override;
+  RangerCommonSensorState GetCommonSensorState() override;
 
  private:
   RobotCommonInterface* robot_;

diff --git a/src/mobile_robot/hunter_robot.cpp b/src/mobile_robot/hunter_robot.cpp
@@ -63,8 +63,8 @@ HunterActuatorState HunterRobot::GetActuatorState() {
   auto hunter = dynamic_cast<HunterInterface*>(robot_);
   return hunter->GetActuatorState();
 }
-HunterSensorState HunterRobot::GetSensorState() {
+HunterCommonSensorState HunterRobot::GetCommonSensorState() {
   auto hunter = dynamic_cast<HunterInterface*>(robot_);
-  return hunter->GetSensorState();
+  return hunter->GetCommonSensorState();
 }
 }  // namespace westonrobot
diff --git a/src/mobile_robot/ranger_robot.cpp b/src/mobile_robot/ranger_robot.cpp
@@ -67,8 +67,8 @@ RangerActuatorState RangerRobot::GetActuatorState() {
   auto ranger = dynamic_cast<RangerInterface*>(robot_);
   return ranger->GetActuatorState();
 }
-RangerSensorState RangerRobot::GetSensorState() {
+RangerCommonSensorState RangerRobot::GetCommonSensorState() {
   auto ranger = dynamic_cast<RangerInterface*>(robot_);
-  return ranger->GetSensorState();
+  return ranger->GetCommonSensorState();
 }
 }  // namespace westonrobot