init

unitree_SDK/include/unitree/robot/g1/audio/g1_audio_api.hpp

@@ -0,0 +1,94 @@
+#ifndef __UT_ROBOT_G1_AUDIO_API_HPP__
+#define __UT_ROBOT_G1_AUDIO_API_HPP__
+
+#include <unitree/common/json/jsonize.hpp>
+// #include <variant>
+
+namespace unitree {
+namespace robot {
+namespace g1 {
+/*service name*/
+const std::string AUDIO_SERVICE_NAME = "voice";
+
+/*api version*/
+const std::string AUDIO_API_VERSION = "1.0.0.0";
+
+/*api id*/
+const int32_t ROBOT_API_ID_AUDIO_TTS = 1001;
+const int32_t ROBOT_API_ID_AUDIO_ASR = 1002;
+const int32_t ROBOT_API_ID_AUDIO_START_PLAY = 1003;
+const int32_t ROBOT_API_ID_AUDIO_STOP_PLAY = 1004;
+const int32_t ROBOT_API_ID_AUDIO_GET_VOLUME = 1005;
+const int32_t ROBOT_API_ID_AUDIO_SET_VOLUME = 1006;
+const int32_t ROBOT_API_ID_AUDIO_SET_RGB_LED = 1010;
+
+class TtsMakerParameter : public common::Jsonize {
+ public:
+  TtsMakerParameter() {}
+  ~TtsMakerParameter() {}
+
+  void fromJson(common::JsonMap &json) {}
+
+  void toJson(common::JsonMap &json) const {
+    common::ToJson(index, json["index"]);
+    common::ToJson(speaker_id, json["speaker_id"]);
+    common::ToJson(text, json["text"]);
+  }
+
+  int32_t index = 0;
+  uint16_t speaker_id = 0;
+  std::string text;
+};
+
+class PlayStreamParameter : public common::Jsonize {
+ public:
+  PlayStreamParameter() {}
+  ~PlayStreamParameter() {}
+
+  void fromJson(common::JsonMap &json) {}
+
+  void toJson(common::JsonMap &json) const {
+    common::ToJson(app_name, json["app_name"]);
+    common::ToJson(stream_id, json["stream_id"]);
+  }
+
+  std::string app_name;
+  std::string stream_id;
+};
+
+class PlayStopParameter : public common::Jsonize {
+ public:
+  PlayStopParameter() {}
+  ~PlayStopParameter() {}
+
+  void fromJson(common::JsonMap &json) {}
+
+  void toJson(common::JsonMap &json) const {
+    common::ToJson(app_name, json["app_name"]);
+  }
+
+  std::string app_name;
+};
+
+class LedControlParameter : public common::Jsonize {
+ public:
+  LedControlParameter() {}
+  ~LedControlParameter() {}
+
+  void fromJson(common::JsonMap &json) {}
+
+  void toJson(common::JsonMap &json) const {
+    common::ToJson(R, json["R"]);
+    common::ToJson(G, json["G"]);
+    common::ToJson(B, json["B"]);
+  }
+
+  uint8_t R;
+  uint8_t G;
+  uint8_t B;
+};
+}  // namespace g1
+}  // namespace robot
+}  // namespace unitree
+
+#endif  // __UT_ROBOT_G1_AUDIO_API_HPP__

unitree_SDK/include/unitree/robot/g1/audio/g1_audio_client.hpp

@@ -0,0 +1,110 @@
+#ifndef __UT_ROBOT_G1_AUDIO_CLIENT_HPP__
+#define __UT_ROBOT_G1_AUDIO_CLIENT_HPP__
+
+#include <limits>
+#include <unitree/robot/client/client.hpp>
+#include <unitree/robot/go2/public/jsonize_type.hpp>
+
+#include "g1_audio_api.hpp"
+
+namespace unitree {
+namespace robot {
+namespace g1 {
+class AudioClient : public Client {
+ public:
+  AudioClient() : Client(AUDIO_SERVICE_NAME, false) {}
+  ~AudioClient() {}
+
+  /*Init*/
+  void Init() {
+    SetApiVersion(AUDIO_API_VERSION);
+    UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_API_ID_AUDIO_TTS);
+    UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_API_ID_AUDIO_ASR);
+    UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_API_ID_AUDIO_START_PLAY);
+    UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_API_ID_AUDIO_STOP_PLAY);
+    UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_API_ID_AUDIO_GET_VOLUME);
+    UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_API_ID_AUDIO_SET_VOLUME);
+    UT_ROBOT_CLIENT_REG_API_NO_PROI(ROBOT_API_ID_AUDIO_SET_RGB_LED);
+  };
+
+  /*API Call*/
+  int32_t TtsMaker(const std::string& text, int32_t speaker_id) {
+    std::string parameter, data;
+    TtsMakerParameter json;
+
+    json.index = tts_index++;
+    json.text = text;
+    json.speaker_id = speaker_id;
+    parameter = common::ToJsonString(json);
+
+    return Call(ROBOT_API_ID_AUDIO_TTS, parameter, data);
+  }
+
+  int32_t GetVolume(uint8_t& volume) {
+    std::string parameter, data;
+
+    int32_t ret = Call(ROBOT_API_ID_AUDIO_GET_VOLUME, parameter, data);
+    if (ret == 0) {
+      unitree::robot::go2::JsonizeCommObjInt json;
+      json.name = "volume";
+      common::FromJsonString(data, json);
+      volume = json.value;
+    }
+
+    return ret;
+  }
+
+  int32_t SetVolume(uint8_t volume) {
+    std::string parameter, data;
+    unitree::robot::go2::JsonizeCommObjInt json;
+
+    json.value = volume;
+    json.name = "volume";
+    parameter = common::ToJsonString(json);
+
+    return Call(ROBOT_API_ID_AUDIO_SET_VOLUME, parameter, data);
+  }
+
+  int32_t PlayStream(std::string app_name, std::string stream_id,
+                     std::vector<uint8_t> pcm_data) {
+    std::string parameter;
+    PlayStreamParameter json;
+
+    json.app_name = app_name;
+    json.stream_id = stream_id;
+    parameter = common::ToJsonString(json);
+
+    return Call(ROBOT_API_ID_AUDIO_START_PLAY, parameter, pcm_data);
+  }
+
+  int32_t PlayStop(std::string app_name) {
+    std::string parameter, data;
+    PlayStopParameter json;
+
+    json.app_name = app_name;
+    parameter = common::ToJsonString(json);
+
+    Call(ROBOT_API_ID_AUDIO_STOP_PLAY, parameter, data);
+    return 0;
+  }
+
+  int32_t LedControl(uint8_t R, uint8_t G, uint8_t B) {
+    std::string parameter, data;
+    LedControlParameter json;
+
+    json.R = R;
+    json.G = G;
+    json.B = B;
+    parameter = common::ToJsonString(json);
+
+    return Call(ROBOT_API_ID_AUDIO_SET_RGB_LED, parameter, data);
+  }
+
+ private:
+  uint32_t tts_index = 0;
+};
+}  // namespace g1
+
+}  // namespace robot
+}  // namespace unitree
+#endif  // __UT_ROBOT_G1_AUDIO_CLIENT_HPP__

unitree_SDK/include/unitree/robot/g1/audio/g1_audio_error.hpp

@@ -0,0 +1,14 @@
+#ifndef __UT_ROBOT_G1_AUDIO_ERROR_HPP__
+#define __UT_ROBOT_G1_AUDIO_ERROR_HPP__
+
+#include <unitree/common/decl.hpp>
+
+namespace unitree {
+namespace robot {
+namespace g1 {
+UT_DECL_ERR(UT_ROBOT_AUDIO_ERR_COMM, 100, "Invalid parameter ")
+}  // namespace g1
+}  // namespace robot
+}  // namespace unitree
+
+#endif  // __UT_ROBOT_G1_AUDIO_ERROR_HPP__