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