fixed tracer bug

Author: agilexrobotics

CMakeLists.txt

@@ -101,6 +101,7 @@ add_library(${PROJECT_NAME}
     src/mobile_robot/bunker_robot.cpp
     src/mobile_robot/ranger_robot.cpp
     src/mobile_robot/titan_robot.cpp
+    src/mobile_robot/tracer_robot.cpp
     ########################
     ## protocol v2 support
     src/protocol_v2/agilex_msg_parser_v2.c

include/ugv_sdk/details/robot_base/tracer_base.hpp

@@ -25,32 +25,32 @@ template <typename ParserType>
 class TracerBase : public AgilexBase<ParserType>,
                      public TracerInterface {
  public:
-  TracerBase() : AgilexBase<ProtocolV2Parser>(){};
+  TracerBase() : AgilexBase<ParserType>(){};
   ~TracerBase() = default;
 
   // set up connection
   bool Connect(std::string can_name) override {
-    return AgilexBase<ProtocolV2Parser>::Connect(can_name);
+    return AgilexBase<ParserType>::Connect(can_name);
   }
 
   // robot control
   void SetMotionCommand(double linear_vel, double angular_vel) override {
-    AgilexBase<ProtocolV2Parser>::SendMotionCommand(linear_vel, angular_vel,
+    AgilexBase<ParserType>::SendMotionCommand(linear_vel, angular_vel,
                                                     0.0, 0.0);
   }
 
   void SetLightCommand(AgxLightMode f_mode, uint8_t f_value) override {
-    AgilexBase<ProtocolV2Parser>::SendLightCommand(f_mode, f_value, CONST_OFF,
+    AgilexBase<ParserType>::SendLightCommand(f_mode, f_value, CONST_OFF,
                                                    0);
   }
 
   void DisableLightControl() override {
-    AgilexBase<ProtocolV2Parser>::DisableLightControl();
+    AgilexBase<ParserType>::DisableLightControl();
   }
 
   // get robot state
   TracerCoreState GetRobotState() override {
-    auto state = AgilexBase<ProtocolV2Parser>::GetRobotCoreStateMsgGroup();
+    auto state = AgilexBase<ParserType>::GetRobotCoreStateMsgGroup();
 
     TracerCoreState tracer_state;
     tracer_state.time_stamp = state.time_stamp;
@@ -62,7 +62,7 @@ class TracerBase : public AgilexBase<ParserType>,
   }
 
   TracerActuatorState GetActuatorState() override {
-    auto actuator = AgilexBase<ProtocolV2Parser>::GetActuatorStateMsgGroup();
+    auto actuator = AgilexBase<ParserType>::GetActuatorStateMsgGroup();
 
     TracerActuatorState tracer_actuator;
     tracer_actuator.time_stamp = actuator.time_stamp;

include/ugv_sdk/mobile_robot/tracer_robot.hpp

@@ -19,7 +19,7 @@ namespace westonrobot {
 class TracerRobot : public RobotCommonInterface, public TracerInterface {
  public:
   TracerRobot(ProtocolVersion protocol = ProtocolVersion::AGX_V2);
-  virtual ~TracerRobot();
+  ~TracerRobot();
 
   bool Connect(std::string can_name) override;
 

src/mobile_robot/tracer_robot.cpp

@@ -44,10 +44,16 @@ void TracerRobot::SetMotionCommand(double linear_vel, double angular_vel) {
   Tracer->SetMotionCommand(linear_vel, angular_vel);
 }
 void TracerRobot::SetLightCommand(AgxLightMode f_mode, uint8_t f_value) {
-  auto scout = dynamic_cast<TracerInterface*>(robot_);
-  scout->SetLightCommand(f_mode, f_value);
+  auto Tracer = dynamic_cast<TracerInterface*>(robot_);
+  Tracer->SetLightCommand(f_mode, f_value);
+}
+
+void TracerRobot::DisableLightControl() {
+  auto Tracer = dynamic_cast<TracerInterface*>(robot_);
+  Tracer->DisableLightControl();
 }
 
+
 TracerCoreState TracerRobot::GetRobotState() {
   auto Tracer = dynamic_cast<TracerInterface*>(robot_);
   return Tracer->GetRobotState();