Merge pull request #6 from westonrobot/feature-v1.4

Feature v1.4

.github/workflows/default.yml

@@ -10,7 +10,7 @@ on:
       - "**"
 
 env:
-  VERSION: "1.3.*"
+  VERSION: "1.4.*"
 
 jobs:
   build:

.github/workflows/release.yml

@@ -6,7 +6,7 @@ on:
       - 'main'
 
 env:
-  TAG_VERSION: "1.3.x"
+  TAG_VERSION: "1.4.x"
 
 jobs:
   tag-release:

CMakeLists.txt

@@ -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 1.3.0...<1.4.0 REQUIRED)
+find_package(wrp_sdk 1.4.0...<1.5.0 REQUIRED)
 
 find_package(PkgConfig REQUIRED)
 pkg_check_modules(LelyIO QUIET IMPORTED_TARGET liblely-io2)

sample/mobile_base/robooterx_wheelchair_demo.cpp

@@ -77,8 +77,12 @@ int main(int argc, char const *argv[]) {
               << static_cast<int>(system_state.control_state) << std::endl;
 
     westonrobot::BatteryState bms_data = base.GetBatteryState();
-    std::cout << "BMS: " << std::endl;
+    westonrobot::BatteryState bms_data2 = base.GetSecondaryBatteryState();
+    std::cout << "Primary BMS: " << std::endl;
     std::cout << "  SOC: " << bms_data.percentage << "%" << std::endl;
+    std::cout << "Secondary BMS: " << std::endl;
+    std::cout << "  SOC: " << bms_data2.percentage << "%" << std::endl;
+    std::cout << "  voltage: " << bms_data2.voltage << "V" << std::endl;
 
     std::cout << "Controlling robot base..." << std::endl;