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add ranger motion mode setting

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This commit is contained in:
wangzheqie
2021-04-22 13:37:28 +08:00
parent 4d0f718231
commit d6c06897d3
7 changed files with 64 additions and 4 deletions
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20
src/agx_msg_parser.c
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@@ -7,11 +7,11 @@
* Copyright (c) 2019 Weston Robot Pte. Ltd.
*/
#include "ugv_sdk/details/agilex_msg_parser.h"
#include "agx_protocol_v2.h"
#include "ugv_sdk/details/agilex_msg_parser.h"
#include "string.h"
#include "stdio.h"
#include "string.h"
bool DecodeCanFrame(const struct can_frame *rx_frame, AgxMessage *msg) {
msg->type = AgxMsgUnkonwn;
@@ -352,6 +352,22 @@ void EncodeCanFrame(const AgxMessage *msg, struct can_frame *tx_frame) {
memcpy(tx_frame->data, (uint8_t *)(&frame), tx_frame->can_dlc);
break;
}
case AgxMsgSetMotionMode: {
tx_frame->can_id = CAN_MSG_SET_MOTION_MODE_ID;
tx_frame->can_dlc = 8;
SetMotionModeFrame frame;
frame.motion_mode = msg->body.motion_mode_msg.motion_mode;
frame.reserved0 = 0;
frame.reserved1 = 0;
frame.reserved2 = 0;
frame.reserved3 = 0;
frame.reserved4 = 0;
frame.reserved5 = 0;
frame.reserved6 = 0;
memcpy(tx_frame->data, (uint8_t *)(&frame), tx_frame->can_dlc);
break;
}
/***************** feedback frame ****************/
case AgxMsgSystemState: {
tx_frame->can_id = CAN_MSG_SYSTEM_STATE_ID;