add bms msg

Author: agilexrobotics

include/ugv_sdk/details/interface/bunker_interface.hpp

@@ -34,6 +34,12 @@ struct BunkerActuatorState {
   ActuatorStateMessageV1 actuator_state[2];
 };
 
+struct BunkerCommonSensorState {
+  SdkTimePoint time_stamp;
+
+  BmsBasicMessage bms_basic_state;
+  BmsExtendedMessage bms_extended_state;
+};
 struct BunkerInterface {
   virtual ~BunkerInterface() = default;
 
@@ -42,6 +48,8 @@ struct BunkerInterface {
   // get robot state
   virtual BunkerCoreState GetRobotState() = 0;
   virtual BunkerActuatorState GetActuatorState() = 0;
+  virtual BunkerCommonSensorState GetCommonSensorState() = 0;
+
 };
 }  // namespace westonrobot
 

include/ugv_sdk/details/interface/scout_interface.hpp

@@ -40,6 +40,7 @@ struct ScoutCommonSensorState {
   SdkTimePoint time_stamp;
 
   BmsBasicMessage bms_basic_state;
+  BmsExtendedMessage bms_extended_state;
 };
 
 struct ScoutInterface {

include/ugv_sdk/details/interface/tracer_interface.hpp

@@ -32,6 +32,12 @@ struct TracerActuatorState {
   ActuatorHSStateMessage actuator_hs_state[2];
   ActuatorLSStateMessage actuator_ls_state[2];
 };
+struct TracerCommonSensorState {
+  SdkTimePoint time_stamp;
+
+  BmsBasicMessage bms_basic_state;
+  BmsExtendedMessage bms_extended_state;
+};
 
 struct TracerInterface {
   virtual ~TracerInterface() = default;
@@ -43,6 +49,8 @@ struct TracerInterface {
   // get robot state
   virtual TracerCoreState GetRobotState() = 0;
   virtual TracerActuatorState GetActuatorState() = 0;
+  virtual TracerCommonSensorState GetCommonSensorState() = 0;
+
 };
 }  // namespace westonrobot
 

include/ugv_sdk/details/protocol_v1/protocol_v1_parser.hpp

@@ -76,6 +76,7 @@ using ScoutMiniProtocolV1Parser = ProtocolV1Parser<ScoutMiniLimits>;
 using BunkerProtocolV1Parser = ProtocolV1Parser<BunkerLimits>;
 
 using HunterProtocolV1Parser = ProtocolV1Parser<HunterV1Limits>;
+using TracerProtocolV1Parser = ProtocolV1Parser<BunkerLimits>;
 
 }  // namespace westonrobot
 

include/ugv_sdk/details/robot_base/bunker_base.hpp

@@ -60,6 +60,20 @@ class BunkerBase : public AgilexBase<ParserType>, public BunkerInterface {
     }
     return bunker_actuator;
   }
+
+  BunkerCommonSensorState GetCommonSensorState() override {
+    auto common_sensor =
+        AgilexBase<ParserType>::GetCommonSensorStateMsgGroup();
+
+    BunkerCommonSensorState bunker_bms;
+
+    bunker_bms.time_stamp = common_sensor.time_stamp;
+    bunker_bms.bms_basic_state = common_sensor.bms_basic_state;
+
+    return bunker_bms;
+  }
+
+
 };
 }  // namespace westonrobot