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