init

unitree_SDK/include/unitree/robot/b2/motion_switcher/motion_switcher_api.hpp

@@ -0,0 +1,99 @@
+#ifndef __UT_ROBOT_B2_MOTION_SWITCHER_API_HPP__
+#define __UT_ROBOT_B2_MOTION_SWITCHER_API_HPP__
+
+#include <unitree/common/json/jsonize.hpp>
+
+namespace unitree
+{
+namespace robot
+{
+namespace b2
+{
+/*
+ * service name
+ */
+const std::string MOTION_SWITCHER_SERVICE_NAME = "motion_switcher";
+
+/*
+ * api version
+ */
+const std::string MOTION_SWITCHER_API_VERSION = "1.0.0.1";
+
+/*
+ * api id
+ */
+const int32_t MOTION_SWITCHER_API_ID_CHECK_MODE = 1001;
+const int32_t MOTION_SWITCHER_API_ID_SELECT_MODE = 1002;
+const int32_t MOTION_SWITCHER_API_ID_RELEASE_MODE = 1003;
+const int32_t MOTION_SWITCHER_API_ID_SET_SILENT = 1004;
+const int32_t MOTION_SWITCHER_API_ID_GET_SILENT = 1005;
+
+/*
+ * api data type
+ */
+class JsonizeModeName : public common::Jsonize
+{
+public:
+    JsonizeModeName()
+    {}
+
+    ~JsonizeModeName()
+    {}
+
+    /*override*/
+    void fromJson(common::JsonMap& json)
+    {
+        common::FromJson(json["name"], name);
+
+        if (json.find("form") != json.end())
+        {
+            common::FromJson(json["form"], form);
+        }
+    }
+
+    /*override*/
+    void toJson(common::JsonMap& json) const
+    {
+        common::ToJson(name, json["name"]);
+
+        if (!form.empty())
+        {
+            common::ToJson(form, json["form"]);
+        }
+    }
+
+public:
+    std::string name;
+    std::string form;
+};
+
+class JsonizeSilent : public common::Jsonize
+{
+public:
+    JsonizeSilent() : silent(false)
+    {}
+
+    ~JsonizeSilent()
+    {}
+
+    /*override*/
+    void fromJson(common::JsonMap& json)
+    {
+        common::FromJson(json["silent"], silent);
+    }
+
+    /*override*/
+    void toJson(common::JsonMap& json) const
+    {
+        common::ToJson(silent, json["silent"]);
+    }
+
+public:
+    bool silent;
+};
+
+}
+}
+}
+
+#endif//__UT_ROBOT_B2_MOTION_SWITCHER_API_HPP__

unitree_SDK/include/unitree/robot/b2/motion_switcher/motion_switcher_client.hpp

@@ -0,0 +1,35 @@
+#ifndef __UT_ROBOT_B2_MOTION_SWITCHER_CLIENT_HPP__
+#define __UT_ROBOT_B2_MOTION_SWITCHER_CLIENT_HPP__
+
+#include <unitree/robot/client/client.hpp>
+
+namespace unitree
+{
+namespace robot
+{
+namespace b2
+{
+/*
+ * @brief MotionSwitcherClient
+ */
+class MotionSwitcherClient : public Client
+{
+public:
+    explicit MotionSwitcherClient();
+    ~MotionSwitcherClient();
+
+    void Init();
+
+    int32_t CheckMode(std::string& form, std::string& name);
+    int32_t SelectMode(const std::string& nameOrAlias);
+    int32_t ReleaseMode();
+    int32_t SetSilent(bool silent);
+    int32_t GetSilent(bool& silent);
+};
+
+}
+}
+}
+
+#endif//__UT_ROBOT_B2_MOTION_SWITCHER_CLIENT_HPP__
+

unitree_SDK/include/unitree/robot/b2/motion_switcher/motion_switcher_error.hpp

@@ -0,0 +1,25 @@
+#ifndef __UT_ROBOT_B2_MOTION_SWITCHER_ERROR_HPP__
+#define __UT_ROBOT_B2_MOTION_SWITCHER_ERROR_HPP__
+
+#include <unitree/common/decl.hpp>
+
+namespace unitree
+{
+namespace robot
+{
+namespace b2
+{
+    UT_DECL_ERR(UT_SWITCH_ERR_PARAMETR,         7001,  "parameter is invalid.")
+    UT_DECL_ERR(UT_SWITCH_ERR_BUSY,             7002,  "switcher is busy.")
+    UT_DECL_ERR(UT_SWITCH_ERR_EVENT,            7003,  "event is invalid.")
+    UT_DECL_ERR(UT_SWITCH_ERR_NAME,             7004,  "name or alias is invalid.")
+    UT_DECL_ERR(UT_SWITCH_ERR_CMD,              7005,  "name or alias is invalid.")
+    UT_DECL_ERR(UT_SWITCH_ERR_EXEC_CHECK,       7006,  "check cmd execute error.")
+    UT_DECL_ERR(UT_SWITCH_ERR_EXEC_SELECT,      7007,  "select cmd execute error.")
+    UT_DECL_ERR(UT_SWITCH_ERR_EXEC_RELEASE,     7008,  "release cmd execute error.")
+    UT_DECL_ERR(UT_SWITCH_ERR_CUSTOMIZE,        7009,  "save customize data error.")
+}
+}
+}
+
+#endif//__UT_ROBOT_B2_MOTION_SWITCHER_ERROR_HPP__