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Quella
2025-09-24 10:53:28 +08:00
commit f8e4df77fb
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210
unitree_SDK/include/unitree/robot/go2/config/config_api.hpp Normal file
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#ifndef __UT_ROBOT_GO2_CONFIG_API_HPP__
#define __UT_ROBOT_GO2_CONFIG_API_HPP__
#include <unitree/common/json/jsonize.hpp>
namespace unitree
{
namespace robot
{
namespace go2
{
/*
* service name
*/
const std::string CONFIG_SERVICE_NAME = "config";
/*
* api version
*/
const std::string CONFIG_API_VERSION = "1.0.0.1";
/*
* api id
*/
const int32_t CONFIG_API_ID_SET = 1001;
const int32_t CONFIG_API_ID_GET = 1002;
const int32_t CONFIG_API_ID_DEL = 1003;
const int32_t CONFIG_API_ID_META = 1004;
/*
* data type
*/
class JsonizeConfigMeta : public common::Jsonize
{
public:
JsonizeConfigMeta()
{}
~JsonizeConfigMeta()
{}
void fromJson(common::JsonMap& json)
{
common::FromJson(json["name"], name);
common::FromJson(json["lastModified"], lastModified);
common::FromJson(json["size"], size);
common::FromJson(json["epoch"], epoch);
}
void toJson(common::JsonMap& json) const
{
common::ToJson(name, json["name"]);
common::ToJson(lastModified, json["lastModified"]);
common::ToJson(size, json["size"]);
common::ToJson(epoch, json["epoch"]);
}
public:
std::string name;
std::string lastModified;
int32_t size;
int32_t epoch;
};
class ConfigSetParameter : public common::Jsonize
{
public:
ConfigSetParameter()
{}
~ConfigSetParameter()
{}
void fromJson(common::JsonMap& json)
{
common::FromJson(json["name"], name);
common::FromJson(json["content"], content);
}
void toJson(common::JsonMap& json) const
{
common::ToJson(name, json["name"]);
common::ToJson(content, json["content"]);
}
public:
std::string name;
std::string content;
};
class ConfigGetParameter : public common::Jsonize
{
public:
ConfigGetParameter()
{}
~ConfigGetParameter()
{}
void fromJson(common::JsonMap& json)
{
common::FromJson(json["name"], name);
}
void toJson(common::JsonMap& json) const
{
common::ToJson(name, json["name"]);
}
public:
std::string name;
};
class ConfigGetData : public common::Jsonize
{
public:
ConfigGetData()
{}
~ConfigGetData()
{}
void fromJson(common::JsonMap& json)
{
common::FromJson(json["content"], content);
}
void toJson(common::JsonMap& json) const
{
common::ToJson(content, json["content"]);
}
public:
std::string content;
};
class ConfigDelParameter : public common::Jsonize
{
public:
ConfigDelParameter()
{}
~ConfigDelParameter()
{}
void fromJson(common::JsonMap& json)
{
common::FromJson(json["name"], name);
}
void toJson(common::JsonMap& json) const
{
common::ToJson(name, json["name"]);
}
public:
std::string name;
};
class ConfigMetaParameter : public common::Jsonize
{
public:
ConfigMetaParameter()
{}
~ConfigMetaParameter()
{}
void fromJson(common::JsonMap& json)
{
common::FromJson(json["name"], name);
}
void toJson(common::JsonMap& json) const
{
common::ToJson(name, json["name"]);
}
public:
std::string name;
};
class ConfigMetaData : public common::Jsonize
{
public:
ConfigMetaData()
{}
~ConfigMetaData()
{}
void fromJson(common::JsonMap& json)
{
common::FromJson(json["meta"], meta);
}
void toJson(common::JsonMap& json) const
{
common::ToJson(meta, json["meta"]);
}
public:
JsonizeConfigMeta meta;
};
}
}
}
#endif//__UT_ROBOT_GO2_CONFIG_API_HPP__

68
unitree_SDK/include/unitree/robot/go2/config/config_client.hpp Normal file
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#ifndef __UT_ROBOT_GO2_CONFIG_CLIENT_HPP__
#define __UT_ROBOT_GO2_CONFIG_CLIENT_HPP__
#include <unitree/robot/client/client.hpp>
#include <unitree/robot/channel/channel_subscriber.hpp>
#include <unitree/idl/go2/ConfigChangeStatus_.hpp>
namespace unitree
{
namespace robot
{
namespace go2
{
/*
* @brief ConfigMeta
*/
class ConfigMeta
{
public:
ConfigMeta() : size(-1), epoch(-1)
{}
~ConfigMeta()
{}
public:
std::string name;
std::string lastModified;
int32_t size;
int32_t epoch;
};
/*
* @brief ConfigClient
*/
using ConfigChangeStatusCallback = std::function<void(const std::string&,const std::string&)>;
class ConfigClient : public Client
{
public:
explicit ConfigClient();
~ConfigClient();
void Init();
int32_t Set(const std::string& name, const std::string& content);
int32_t Get(const std::string& name, std::string& content);
int32_t Del(const std::string& name);
int32_t Meta(const std::string& name, ConfigMeta& meta);
int32_t Meta(const std::string& name, std::string& meta);
void SubscribeChangeStatus(const std::string& name, const ConfigChangeStatusCallback& callback);
private:
void ChangeStatusMessageHandler(const void* message);
private:
unitree::common::Mutex mLock;
std::map<std::string,ConfigChangeStatusCallback> mNameCallbackMap;
ChannelSubscriberPtr<unitree_go::msg::dds_::ConfigChangeStatus_> mSubscriberPtr;
};
}
}
}
#endif//__UT_ROBOT_GO2_CONFIG_CLIENT_HPP__

29
unitree_SDK/include/unitree/robot/go2/config/config_error.hpp Normal file
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#ifndef __UT_ROBOT_GO2_CONFIG_ERROR_HPP__
#define __UT_ROBOT_GO2_CONFIG_ERROR_HPP__
namespace unitree
{
namespace robot
{
namespace go2
{
UT_DECL_ERR(UT_CONFIG_ERR_PARAMETER, 8201, "parameter error.")
UT_DECL_ERR(UT_CONFIG_ERR_NOT_FOUND, 8202, "config name is not found.")
UT_DECL_ERR(UT_CONFIG_ERR_NAME, 8203, "name is invalid.")
UT_DECL_ERR(UT_CONFIG_ERR_LIMITED, 8204, "name/content length limited.")
UT_DECL_ERR(UT_CONFIG_ERR_LOCK, 8205, "lock error.")
UT_DECL_ERR(UT_CONFIG_ERR_LOAD_META, 8206, "load meta error.")
UT_DECL_ERR(UT_CONFIG_ERR_SAVE_META, 8207, "save meta error.")
UT_DECL_ERR(UT_CONFIG_ERR_TEMP_META, 8208, "save meta temp error.")
UT_DECL_ERR(UT_CONFIG_ERR_FORMAL_META, 8209, "formalize meta error.")
UT_DECL_ERR(UT_CONFIG_ERR_REMOVE_META, 8210, "remove meta error.")
UT_DECL_ERR(UT_CONFIG_ERR_LOAD_DATA, 8211, "load data error.")
UT_DECL_ERR(UT_CONFIG_ERR_SAVE_DATA, 8212, "save data error.")
UT_DECL_ERR(UT_CONFIG_ERR_TEMP_DATA, 8213, "save data temp error.")
UT_DECL_ERR(UT_CONFIG_ERR_FORMAL_DATA, 8214, "formalize data error.")
UT_DECL_ERR(UT_CONFIG_ERR_REMOVE_DATA, 8215, "remove data error.")
}
}
}
#endif//__UT_ROBOT_GO2_CONFIG_ERROR_HPP__