init

unitree_SDK/include/unitree/robot/go2/vui/vui_api.hpp

@@ -0,0 +1,29 @@
+#ifndef __UT_ROBOT_GO2_VUI_API_HPP__
+#define __UT_ROBOT_GO2_VUI_API_HPP__
+
+#include <unitree/common/json/jsonize.hpp>
+
+namespace unitree
+{
+namespace robot
+{
+namespace go2
+{
+/*service name*/
+const std::string ROBOT_VUI_SERVICE_NAME = "vui";
+
+/*api version*/
+const std::string ROBOT_VUI_API_VERSION = "1.0.0.0";
+
+/*api id*/
+const int32_t ROBOT_VUI_API_ID_SETSWITCH           = 1001;
+const int32_t ROBOT_VUI_API_ID_GETSWITCH           = 1002;
+const int32_t ROBOT_VUI_API_ID_SETVOLUME           = 1003;
+const int32_t ROBOT_VUI_API_ID_GETVOLUME           = 1004;
+const int32_t ROBOT_VUI_API_ID_SETBRIGHTNESS       = 1005;
+const int32_t ROBOT_VUI_API_ID_GETBRIGHTNESS       = 1006;
+}
+}
+}
+
+#endif //__UT_ROBOT_GO2_VUI_API_HPP__

unitree_SDK/include/unitree/robot/go2/vui/vui_client.hpp

@@ -0,0 +1,64 @@
+#ifndef __UT_ROBOT_GO2_VUI_CLIENT_HPP__
+#define __UT_ROBOT_GO2_VUI_CLIENT_HPP__
+
+#include <unitree/robot/client/client.hpp>
+
+namespace unitree
+{
+namespace robot
+{
+namespace go2
+{
+/*
+ * VuiClient
+ */
+class VuiClient : public Client
+{
+public:
+    explicit VuiClient();
+    ~VuiClient();
+
+    void Init();
+
+    /*
+     * @brief SetSwitch
+     * @api: 1001
+     */
+    int32_t SetSwitch(int enable);
+
+    /*
+     * @brief GetSwitch
+     * @api: 1002
+     */
+    int32_t GetSwitch(int&);
+
+    /*
+     * @brief SetVolume
+     * @api: 1003
+     */
+    int32_t SetVolume(int level);
+
+    /*
+     * @brief GetVolume
+     * @api: 1004
+     */
+    int32_t GetVolume(int&);
+
+    /*
+     * @brief SetBrightness
+     * @api: 1005
+     */
+    int32_t SetBrightness(int level);
+
+    /*
+     * @brief GetBrightness
+     * @api: 1006
+     */
+    int32_t GetBrightness(int&);
+
+};
+}
+}
+}
+
+#endif//__UT_ROBOT_GO2_VUI_CLIENT_HPP__

unitree_SDK/include/unitree/robot/go2/vui/vui_error.hpp

@@ -0,0 +1,17 @@
+#ifndef __UT_ROBOT_GO2_VUI_ERROR_HPP__
+#define __UT_ROBOT_GO2_VUI_ERROR_HPP__
+
+#include <unitree/common/decl.hpp>
+
+namespace unitree
+{
+namespace robot
+{
+namespace go2
+{
+    UT_DECL_ERR(UT_ROBOT_VUI_ERR_COMM,   100,   "Invalid parameter")
+}
+}
+}
+
+#endif//__UT_ROBOT_GO2_VUI_ERROR_HPP__