init

unitree_SDK/include/unitree/robot/b2/back_video/back_video_api.hpp

@@ -0,0 +1,24 @@
+#ifndef __UT_ROBOT_B2_BACK_VIDEO_API_HPP__
+#define __UT_ROBOT_B2_BACK_VIDEO_API_HPP__
+
+#include <unitree/common/json/jsonize.hpp>
+
+namespace unitree
+{
+namespace robot
+{
+namespace b2
+{
+/*service name*/
+const std::string ROBOT_BACK_VIDEO_SERVICE_NAME = "back_videohub";
+
+/*api version*/
+const std::string ROBOT_BACK_VIDEO_API_VERSION = "1.0.0.0";
+
+/*api id*/
+const int32_t ROBOT_BACK_VIDEO_API_ID_GETIMAGESAMPLE       = 1001;
+}
+}
+}
+
+#endif //__UT_ROBOT_B2_BACK_VIDEO_API_HPP__

unitree_SDK/include/unitree/robot/b2/back_video/back_video_client.hpp

@@ -0,0 +1,34 @@
+#ifndef __UT_ROBOT_B2_BACK_VIDEO_CLIENT_HPP__
+#define __UT_ROBOT_B2_BACK_VIDEO_CLIENT_HPP__
+
+#include <unitree/robot/client/client.hpp>
+
+namespace unitree
+{
+namespace robot
+{
+namespace b2
+{
+/*
+ * BackVideoClient
+ */
+class BackVideoClient : public Client
+{
+public:
+    explicit BackVideoClient();
+    ~BackVideoClient();
+
+    void Init();
+
+    /*
+     * @brief GetImageSample
+     * @api: 1001
+     */
+    int32_t GetImageSample(std::vector<uint8_t>&);
+
+};
+}
+}
+}
+
+#endif//__UT_ROBOT_B2_BACK_VIDEO_CLIENT_HPP__

unitree_SDK/include/unitree/robot/b2/back_video/back_video_error.hpp

@@ -0,0 +1,17 @@
+#ifndef __UT_ROBOT_B2_BACK_VIDEO_ERROR_HPP__
+#define __UT_ROBOT_B2_BACK_VIDEO_ERROR_HPP__
+
+#include <unitree/common/decl.hpp>
+
+namespace unitree
+{
+namespace robot
+{
+namespace b2
+{
+    UT_DECL_ERR(UT_ROBOT_BACK_VIDEO_ERR_COMM,   100,   "Invalid parameter")
+}
+}
+}
+
+#endif//__UT_ROBOT_B2_BACK_VIDEO_ERROR_HPP__