Merge pull request #46 from westonrobot/bugfix-scout_bms

src: fix scout bms feedback interface

CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.5.1)
-project(ugv_sdk VERSION 0.5.0)
+project(ugv_sdk VERSION 0.6.0)
 
 find_program(CCACHE_PROGRAM ccache)
 if(CCACHE_PROGRAM)

doxyfile

@@ -32,13 +32,13 @@ DOXYFILE_ENCODING      = UTF-8
 # title of most generated pages and in a few other places.
 # The default value is: My Project.
 
-PROJECT_NAME           = "My Project"
+PROJECT_NAME           = "ugv_sdk"
 
 # The PROJECT_NUMBER tag can be used to enter a project or revision number. This
 # could be handy for archiving the generated documentation or if some version
 # control system is used.
 
-PROJECT_NUMBER         =
+PROJECT_NUMBER         = "v0.6.0"
 
 # Using the PROJECT_BRIEF tag one can provide an optional one line description
 # for a project that appears at the top of each page and should give viewer a

include/ugv_sdk/details/interface/scout_interface.hpp

@@ -53,6 +53,7 @@ struct ScoutInterface {
   // get robot state
   virtual ScoutCoreState GetRobotState() = 0;
   virtual ScoutActuatorState GetActuatorState() = 0;
+  virtual ScoutCommonSensorState GetCommonSensorState() = 0;
 };
 
 struct ScoutOmniInterface {

include/ugv_sdk/details/robot_base/scout_base.hpp

@@ -71,6 +71,18 @@ class ScoutBase : public AgilexBase<ParserType>, public ScoutInterface {
     }
     return scout_actuator;
   }
+
+  ScoutCommonSensorState GetCommonSensorState() override {
+    auto common_sensor =
+        AgilexBase<ParserType>::GetCommonSensorStateMsgGroup();
+
+    ScoutCommonSensorState scout_bms;
+
+    scout_bms.time_stamp = common_sensor.time_stamp;
+    scout_bms.bms_basic_state = common_sensor.bms_basic_state;
+
+    return scout_bms;
+  }
 };
 
 template <typename ParserType>

include/ugv_sdk/mobile_robot/scout_robot.hpp

@@ -39,6 +39,7 @@ class ScoutRobot : public RobotCommonInterface, public ScoutInterface {
   // get robot state
   ScoutCoreState GetRobotState() override;
   ScoutActuatorState GetActuatorState() override;
+  ScoutCommonSensorState GetCommonSensorState() override;
 
  protected:
   RobotCommonInterface* robot_;

src/mobile_robot/scout_robot.cpp

@@ -72,6 +72,10 @@ ScoutActuatorState ScoutRobot::GetActuatorState() {
   auto scout = dynamic_cast<ScoutInterface*>(robot_);
   return scout->GetActuatorState();
 }
+ScoutCommonSensorState ScoutRobot::GetCommonSensorState() {
+  auto scout = dynamic_cast<ScoutInterface*>(robot_);
+  return scout->GetCommonSensorState();
+}
 
 ///////////////////////////////////////////////////////////////////////////