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unitree_SDK/include/unitree/robot/internal/internal_api.hpp

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+#ifndef __UT_ROBOT_SDK_INERNAL_API_HPP__
+#define __UT_ROBOT_SDK_INERNAL_API_HPP__
+
+#include <unitree/common/decl.hpp>
+#include <unitree/common/json/jsonize.hpp>
+
+namespace unitree
+{
+namespace robot
+{
+/*
+ * @brief  max internal api id
+ * @value: 100
+ */
+const int32_t ROBOT_INTERNAL_API_ID_MAX             = 100;
+
+///////////////////////////////////////////////////////////////
+/*
+ * @brief  invailed api id
+ * @value: -1
+ */
+const int32_t ROBOT_API_ID_NONE                     = -1;
+
+/*
+ * @brief  Get api version from server.
+ * @value: 1
+ */
+const int32_t ROBOT_API_ID_INTERNAL_API_VERSION     = 1;
+
+/*
+ * @brief  Noop.
+ * @value: 2
+ */
+const int32_t ROBOT_API_ID_INTERNAL_API_NOOP        = 2;
+
+/*
+ * @brief  Apply lease from server.
+ * @value: 101
+ */
+const int32_t ROBOT_API_ID_LEASE_APPLY              = 101;
+/*
+ * @brief  Renewal lease term from server.
+ * @value: 102
+ */
+const int32_t ROBOT_API_ID_LEASE_RENEWAL            = 102;
+
+///////////////////////////////////////////////////////////////
+
+/*
+ * @biref  robot lease term default.
+ * @value: default 1000000 us
+ */
+const int32_t ROBOT_LEASE_TERM                      = 1000000;
+
+/*
+ * micro: IS_INTERNAL_API
+ */
+#define IS_INTERNAL_API(apiId) ((apiId) <= ROBOT_MAX_INTERNAL_API_ID)
+
+///////////////////////////////////////////////////////////////
+
+/*
+ * @brief  Input parameter type for ROBOT_API_ID_INTERNAL_APPLY_LEASE
+ * @class: ApplyLeaseParameter
+ */
+class ApplyLeaseParameter : public common::Jsonize
+{
+public:
+    ApplyLeaseParameter()
+    {}
+
+    ~ApplyLeaseParameter()
+    {}
+
+    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;
+};
+
+/*
+ * @brief  Output data type for ROBOT_API_ID_INTERNAL_APPLY_LEASE
+ * @class: ApplyLeaseData
+ */
+class ApplyLeaseData : public common::Jsonize
+{
+public:
+    ApplyLeaseData() : id(0),term(0)
+    {}
+
+    ~ApplyLeaseData()
+    {}
+
+    void fromJson(common::JsonMap& json)
+    {
+        common::FromJson(json["id"], id);
+        common::FromJson(json["term"], term);
+    }
+
+    void toJson(common::JsonMap& json) const
+    {
+        common::ToJson(id, json["id"]);
+        common::ToJson(term, json["term"]);
+    }
+
+public:
+    int64_t id;
+    int64_t term;
+};
+}
+}
+#endif//__UT_ROBOT_SDK_INERNAL_API_HPP__