init

unitree_SDK/include/unitree/robot/client/client.hpp

@@ -0,0 +1,61 @@
+#ifndef __UT_ROBOT_SDK_CLIENT_HPP__
+#define __UT_ROBOT_SDK_CLIENT_HPP__
+
+#include <unitree/robot/client/client_base.hpp>
+#include <unitree/robot/client/lease_client.hpp>
+
+#define UT_ROBOT_CLIENT_REG_API_NO_PROI(apiId) \
+    UT_ROBOT_CLIENT_REG_API(apiId, 0)
+
+#define UT_ROBOT_CLIENT_REG_API(apiId, priority) \
+    RegistApi(apiId, priority)
+
+namespace unitree
+{
+namespace robot
+{
+/*
+ * @brief
+ * @class: Client
+ */
+class Client: public ClientBase
+{
+public:
+    explicit Client(const std::string& name, bool enableLease = false);
+    virtual ~Client();
+
+    void WaitLeaseApplied();
+    int64_t GetLeaseId();
+
+    const std::string& GetApiVersion() const;
+    std::string GetServerApiVersion();
+
+protected:
+    void SetApiVersion(const std::string& apiVersion);
+
+    int32_t Noop();
+
+    int32_t Call(int32_t apiId, const std::string& parameter, std::string& data);
+    int32_t Call(int32_t apiId, const std::string& parameter);
+
+    int32_t Call(int32_t apiId, const std::vector<uint8_t>& parameter, std::vector<uint8_t>& data);
+    int32_t Call(int32_t apiId, const std::vector<uint8_t>& parameter);
+
+    int32_t Call(int32_t apiId, const std::string& parameter, const std::vector<uint8_t>& binary);
+
+    void RegistApi(int32_t apiId, int32_t priority = 0);
+    int32_t CheckApi(int32_t apiId, int32_t& priority, int64_t& leaseId);
+
+private:
+    bool mEnableLease;
+    std::string mApiVersion;
+    std::unordered_map<int32_t,int32_t> mApiMap;
+    LeaseClientPtr mLeaseClientPtr;
+};
+
+using ClientPtr = std::shared_ptr<Client>;
+
+}
+}
+
+#endif//__UT_ROBOT_SDK_CLIENT_HPP__