Merge pull request #3 from westonrobot/feature-v1.3.0

sample: update to wrp_sdk v1.3.0

.github/workflows/default.yml

@@ -10,7 +10,7 @@ on:
       - "**"
 
 env:
-  VERSION: "1.2.*"
+  VERSION: "1.3.*"
 
 jobs:
   build:

.github/workflows/release.yml

@@ -6,7 +6,7 @@ on:
       - 'main'
 
 env:
-  TAG_VERSION: "1.2.x"
+  TAG_VERSION: "1.3.x"
 
 jobs:
   tag-release:

CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.10.2)
 project(wrp_sdk_sample)
 
 ## Set compiler to use c++ 14 features
@@ -18,7 +18,7 @@ set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/${CMAKE_INSTALL_LIBDIR}
 set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/${CMAKE_INSTALL_BINDIR})
 
 ## Find wrp_sdk and its dependent package wrp_zbus
-find_package(wrp_sdk REQUIRED)
+find_package(wrp_sdk 1.3.0...<1.4.0 REQUIRED)
 
 find_package(PkgConfig REQUIRED)
 pkg_check_modules(LelyIO QUIET IMPORTED_TARGET liblely-io2)

sample/mobile_base/CMakeLists.txt

@@ -1,8 +1,11 @@
 add_executable(sample_handshake_demo handshake_demo.cpp)
-target_link_libraries(sample_handshake_demo westonrobot::wrp_sdk)
+target_link_libraries(sample_handshake_demo westonrobot::wrp_sdk_robot)
 
 add_executable(sample_mobilebase_demo mobilebase_demo.cpp)
-target_link_libraries(sample_mobilebase_demo westonrobot::wrp_sdk)
+target_link_libraries(sample_mobilebase_demo westonrobot::wrp_sdk_robot)
 
 add_executable(sample_agilex_v2_robot_demo agilex_v2_robot_demo.cpp)
-target_link_libraries(sample_agilex_v2_robot_demo westonrobot::wrp_sdk)
+target_link_libraries(sample_agilex_v2_robot_demo westonrobot::wrp_sdk_robot)
+
+add_executable(sample_robooterx_wheelchair_demo robooterx_wheelchair_demo.cpp)
+target_link_libraries(sample_robooterx_wheelchair_demo westonrobot::wrp_sdk_robot)

sample/mobile_base/robooterx_wheelchair_demo.cpp

@@ -0,0 +1,104 @@
+/**
+ * @file robooterx_wheelchair_demo.cpp
+ * @brief Robooterx Wheelchair API usage demo
+ * @date 03-05-2024
+ *
+ * Demo showing the Robooterx Wheelchair running Robooterx's protocol API.
+ *
+ * @copyright Copyright (c) 2024 Weston Robot Pte. Ltd.
+ */
+
+#include <unistd.h>
+
+#include <iomanip>
+#include <sstream>
+#include <iostream>
+
+#include "wrp_sdk/mobile_base/bangbang/robooterx_base_adapter.hpp"
+
+int main(int argc, char const *argv[]) {
+  std::string device_name;
+
+  if (argc == 2) {
+    device_name = {argv[1]};
+    std::cout << "Specified CAN: " << device_name << std::endl;
+  } else {
+    std::cout << "Usage: sample_robooterx_wheelchair_demo <interface>"
+              << std::endl
+              << "Example 1: ./sample_robooterx_wheelchair_demo can0"
+              << std::endl;
+    return -1;
+  }
+
+  westonrobot::RobooterXBaseAdapter base;
+  base.Connect(device_name);
+
+  if (base.RequestControl(500) !=
+      westonrobot::HandshakeReturnCode::kControlAcquired) {
+    std::cout << "Failed to gain control" << std::endl;
+    return -1;
+  }
+
+  while (true) {
+    std::cout << "Checking robot base status..." << std::endl;
+    if (base.IsRobotBaseAlive()) {
+      std::cout << "Robot base is alive." << std::endl;
+    } else {
+      std::cout << "Robot base is not alive." << std::endl;
+    }
+
+    if (base.SdkHasControlToken()) {
+      std::cout << "Control is acquired." << std::endl;
+    } else {
+      std::cout << "Control is not acquired." << std::endl;
+    }
+
+    westonrobot::RcState rc_state = base.GetRcState();
+    std::cout << "RC channel state: " << std::endl;
+    std::cout << "  Axis 1 (Horizontal): " << rc_state.axes[0] << std::endl;
+    std::cout << "  Axis 2 (Vertical):" << rc_state.axes[1] << std::endl;
+    std::cout << "  Button 1 (Newbie mode): " << rc_state.buttons[0]
+              << std::endl;
+
+    westonrobot::MotionState motion_state = base.GetMotionState();
+    std::cout << "Beginner mode enabled: " << motion_state.assisted_mode_enabled
+              << std::endl;
+
+    westonrobot::Odometry odom = base.GetOdometry();
+    std::cout << "Odometry: " << std::endl;
+    std::cout << "  Linear X: " << odom.linear.x << " m/s" << std::endl;
+    std::cout << "  Angular Z: " << odom.angular.z << " rad/s" << std::endl;
+
+    westonrobot::SystemState system_state = base.GetSystemState();
+    std::cout << "Base state: " << std::endl;
+    std::cout << "  Operational State: "
+              << static_cast<int>(system_state.operational_state) << std::endl;
+    std::cout << "  Control State: "
+              << static_cast<int>(system_state.control_state) << std::endl;
+
+    westonrobot::BatteryState bms_data = base.GetBatteryState();
+    std::cout << "BMS: " << std::endl;
+    std::cout << "  SOC: " << bms_data.percentage << "%" << std::endl;
+
+    std::cout << "Controlling robot base..." << std::endl;
+
+    static int mode = 1;
+    base.SetMotionMode(static_cast<westonrobot::MotionMode>(mode++));
+    if (mode > 5) {
+      mode = 1;
+    }
+
+    westonrobot::MotionCommand cmd;
+    cmd.linear.x = 0.5;
+    cmd.angular.z = 0.0;
+    // base.SetMotionCommand(cmd);
+
+    std::cout << "=========================================" << std::endl;
+
+    usleep(100000);
+  }
+
+  base.RenounceControl(500);
+
+  return 0;
+}

sample/peripheral/CMakeLists.txt

@@ -1,11 +1,11 @@
 add_executable(sample_gps_receiver_demo gps_receiver_demo.cpp)
-target_link_libraries(sample_gps_receiver_demo westonrobot::wrp_sdk)
+target_link_libraries(sample_gps_receiver_demo westonrobot::wrp_sdk_peripheral)
 
 add_executable(sample_imu_sensor_demo imu_sensor_demo.cpp)
-target_link_libraries(sample_imu_sensor_demo westonrobot::wrp_sdk)
+target_link_libraries(sample_imu_sensor_demo westonrobot::wrp_sdk_peripheral westonrobot::wrp_sdk_canopen)
 
 add_executable(sample_ultrasonic_sensor_demo ultrasonic_sensor_demo.cpp)
-target_link_libraries(sample_ultrasonic_sensor_demo westonrobot::wrp_sdk)
+target_link_libraries(sample_ultrasonic_sensor_demo westonrobot::wrp_sdk_peripheral)
 
 add_executable(sample_power_regulator_demo power_regulator_demo.cpp)
-target_link_libraries(sample_power_regulator_demo westonrobot::wrp_sdk)
+target_link_libraries(sample_power_regulator_demo westonrobot::wrp_sdk_peripheral westonrobot::wrp_sdk_canopen)