init

unitree_SDK/include/unitree/robot/b2/robot_state/robot_state_api.hpp

@@ -0,0 +1,206 @@
+#ifndef __UT_ROBOT_B2_ROBOT_STATE_API_HPP__
+#define __UT_ROBOT_B2_ROBOT_STATE_API_HPP__
+
+#include <unitree/common/json/jsonize.hpp>
+
+namespace unitree
+{
+namespace robot
+{
+namespace b2
+{
+/*
+ * service name
+ */
+const std::string ROBOT_STATE_SERVICE_NAME = "robot_state";
+
+/*
+ * api version
+ */
+const std::string ROBOT_STATE_API_VERSION = "1.0.0.2";
+
+/*
+ * api id
+ */
+const int32_t ROBOT_STATE_API_ID_SERVICE_SWITCH = 1001;
+const int32_t ROBOT_STATE_API_ID_SET_REPORT_FREQ = 1002;
+const int32_t ROBOT_STATE_API_ID_SERVICE_LIST = 1003;
+const int32_t ROBOT_STATE_API_ID_LOWPOWER_SWITCH = 1004;
+const int32_t ROBOT_STATE_API_ID_LOWPOWER_STATUS = 1005;
+
+/*
+ * request parameter for 1001
+ */
+class ServiceSwitchParameter : public common::Jsonize
+{
+public:
+    ServiceSwitchParameter() : swit(0)
+    {}
+
+    ~ServiceSwitchParameter()
+    {}
+
+    void fromJson(common::JsonMap& json)
+    {
+        common::FromJson(json["name"], name);
+        common::FromJson(json["switch"], swit);
+    }
+
+    void toJson(common::JsonMap& json) const
+    {
+        common::ToJson(name, json["name"]);
+        common::ToJson(swit, json["switch"]);
+    }
+
+public:
+    std::string name;
+    int32_t swit;
+};
+
+/*
+ * response data for 1001
+ */
+class ServiceSwitchData : public common::Jsonize
+{
+public:
+    ServiceSwitchData() : status(0)
+    {}
+
+    ~ServiceSwitchData()
+    {}
+
+    void fromJson(common::JsonMap& json)
+    {
+        common::FromJson(json["name"], name);
+        common::FromJson(json["status"], status);
+    }
+
+    void toJson(common::JsonMap& json) const
+    {
+        common::ToJson(name, json["name"]);
+        common::ToJson(status, json["status"]);
+    }
+
+public:
+    std::string name;
+    int32_t status;
+};
+
+/*
+ * request parameter for 1002
+ */
+class SetReportFreqParameter : public common::Jsonize
+{
+public:
+    SetReportFreqParameter()
+    {}
+
+    ~SetReportFreqParameter()
+    {}
+
+    void fromJson(common::JsonMap& json)
+    {
+        common::FromJson(json["interval"], interval);
+        common::FromJson(json["duration"], duration);
+    }
+
+    void toJson(common::JsonMap& json) const
+    {
+        common::ToJson(interval, json["interval"]);
+        common::ToJson(duration, json["duration"]);
+    }
+
+public:
+    int32_t interval;
+    int32_t duration;
+};
+
+/*
+ * request data for 1003
+ */
+class ServiceStateData : public common::Jsonize
+{
+public:
+    ServiceStateData()
+    {}
+
+    ~ServiceStateData()
+    {}
+
+    void fromJson(common::JsonMap& json)
+    {
+        common::FromJson(json["name"], name);
+        common::FromJson(json["status"], status);
+        common::FromJson(json["protect"], protect);
+    }
+
+    void toJson(common::JsonMap& json) const
+    {
+        common::ToJson(name, json["name"]);
+        common::ToJson(status, json["status"]);
+        common::ToJson(protect, json["protect"]);
+    }
+
+public:
+    std::string name;
+    int32_t status;
+    int32_t protect;
+};
+
+/*
+ * request parameter for 1004
+ */
+class LowPowerSwitchParameter : public common::Jsonize
+{
+public:
+    LowPowerSwitchParameter() : swit(0)
+    {}
+
+    ~LowPowerSwitchParameter()
+    {}
+
+    void fromJson(common::JsonMap& json)
+    {
+        common::FromJson(json["switch"], swit);
+    }
+
+    void toJson(common::JsonMap& json) const
+    {
+        common::ToJson(swit, json["switch"]);
+    }
+
+public:
+    int32_t swit;
+};
+
+/*
+ * response data for 1004
+ */
+class LowPowerStatusData : public common::Jsonize
+{
+public:
+    LowPowerStatusData() : status(0)
+    {}
+
+    ~LowPowerStatusData()
+    {}
+
+    void fromJson(common::JsonMap& json)
+    {
+        common::FromJson(json["status"], status);
+    }
+
+    void toJson(common::JsonMap& json) const
+    {
+        common::ToJson(status, json["status"]);
+    }
+
+public:
+    int32_t status;
+};
+
+}
+}
+}
+
+#endif//__UT_ROBOT_B2_ROBOT_STATE_API_HPP__

unitree_SDK/include/unitree/robot/b2/robot_state/robot_state_client.hpp

@@ -0,0 +1,49 @@
+#ifndef __UT_ROBOT_B2_ROBOT_STATE_CLIENT_HPP__
+#define __UT_ROBOT_B2_ROBOT_STATE_CLIENT_HPP__
+
+#include <unitree/robot/client/client.hpp>
+
+namespace unitree
+{
+namespace robot
+{
+namespace b2
+{
+/*
+ * @brief ServiceState
+ */
+class ServiceState
+{
+public:
+    ServiceState() : status(0), protect(0)
+    {}
+
+    std::string name;
+    int32_t status;
+    int32_t protect;
+};
+
+/*
+ * @brief RobotStateClient
+ */
+class RobotStateClient : public Client
+{
+public:
+    explicit RobotStateClient();
+    ~RobotStateClient();
+
+    void Init();
+
+    int32_t ServiceList(std::vector<ServiceState>& serviceStateList);
+    int32_t ServiceSwitch(const std::string& name, int32_t swit, int32_t& status);
+    int32_t SetReportFreq(int32_t interval, int32_t duration);
+    int32_t LowPowerSwitch(int32_t swit);
+    int32_t LowPowerStatus(int32_t& status);
+};
+
+}
+}
+}
+
+#endif//__UT_ROBOT_B2_ROBOT_STATE_CLIENT_HPP__
+

unitree_SDK/include/unitree/robot/b2/robot_state/robot_state_error.hpp

@@ -0,0 +1,20 @@
+#ifndef __UT_ROBOT_B2_ROBOT_STATE_CLIENT_ERROR_HPP__
+#define __UT_ROBOT_B2_ROBOT_STATE_CLIENT_ERROR_HPP__
+
+#include <unitree/common/decl.hpp>
+
+namespace unitree
+{
+namespace robot
+{
+namespace b2
+{
+UT_DECL_ERR(UT_ROBOT_STATE_CLIENT_ERR_SERVICE_SWITCH,      5201,   "service switch error.")
+UT_DECL_ERR(UT_ROBOT_STATE_CLIENT_ERR_SERVICE_PROTECTED,   5202,   "service is protected.")
+UT_DECL_ERR(UT_ROBOT_STATE_CLIENT_ERR_LOWPOWER_SWITCH,     5203,   "low power switch error.")
+UT_DECL_ERR(UT_ROBOT_STATE_CLIENT_ERR_LOWPOWER_STATE,      5204,   "low power state error.")
+}
+}
+}
+
+#endif//__UT_ROBOT_B2_ROBOT_STATE_CLIENT_ERROR_HPP__