2022-07-20 11:11:38 +08:00
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#ifndef IOINTERFACE_H
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#define IOINTERFACE_H
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#include "message/LowlevelCmd.h"
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#include "message/LowlevelState.h"
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#include "unitree_arm_sdk/cmdPanel.h"
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#include "unitree_arm_sdk/keyboard.h"
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#include <string>
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2022-09-13 19:53:15 +08:00
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#include "common/math/robotics.h"
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2022-07-20 11:11:38 +08:00
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class IOInterface{
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public:
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IOInterface(CmdPanel *cmdPanel):_cmdPanel(cmdPanel){}
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virtual ~IOInterface(){delete _cmdPanel;};
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virtual bool sendRecv(const LowlevelCmd *cmd, LowlevelState *state) = 0;
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// void zeroCmdPanel(){_cmdPanel->setZero();}
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std::string getString(std::string slogan){return _cmdPanel->getString(slogan);}
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std::vector<double> stringToArray(std::string slogan){return _cmdPanel->stringToArray(slogan);}
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std::vector<std::vector<double> > stringToMatrix(std::string slogan){return _cmdPanel->stringToMatrix(slogan);}
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2022-09-13 19:53:15 +08:00
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virtual bool calibration(){return false;};
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2022-07-20 11:11:38 +08:00
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SendCmd getSendCmd(){return _cmdPanel->getSendCmd();};
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void getRecvState(RecvState recvState){ _cmdPanel->getRecvState(recvState);};
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2022-09-13 19:53:15 +08:00
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bool isDisConnect = false;// udp disconnection
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bool _isDisConnect[7];// joint(motor) disconnection
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2022-07-20 11:11:38 +08:00
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protected:
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2022-09-13 19:53:15 +08:00
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uint16_t _isDisConnectCnt[7];
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2022-07-20 11:11:38 +08:00
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CmdPanel *_cmdPanel;
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};
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#endif //IOINTERFACE_H
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