Client update Call methods, add jsonize types

unitreerobotics · Dec 31, 2024 · 70c6f57 · 70c6f57
1 parent 77ad559
commit 70c6f57
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Showing 5 changed files with 27 additions and 7 deletions.
diff --git a/include/unitree/common/json/jsonize.hpp b/include/unitree/common/json/jsonize.hpp
@@ -44,6 +44,14 @@ class Jsonize
     virtual void fromJson(JsonMap& a) = 0;
 };
 
+void FromAny(const Any& a, int8_t& value);
+
+void FromAny(const Any& a, uint8_t& value);
+
+void FromAny(const Any& a, int16_t& value);
+
+void FromAny(const Any& a, uint16_t& value);
+
 void FromAny(const Any& a, int32_t& value);
 
 void FromAny(const Any& a, uint32_t& value);
@@ -153,6 +161,14 @@ void FromJson(const Any& a, T& t)
     FromAny(a, t);
 }
 
+void ToAny(const int8_t& value, Any& a);
+
+void ToAny(const uint8_t& value, Any& a);
+
+void ToAny(const int16_t& value, Any& a);
+
+void ToAny(const uint16_t& value, Any& a);
+
 void ToAny(const int32_t& value, Any& a);
 
 void ToAny(const uint32_t& value, Any& a);

diff --git a/include/unitree/robot/client/client.hpp b/include/unitree/robot/client/client.hpp
@@ -7,8 +7,8 @@
 #define UT_ROBOT_CLIENT_REG_API_NO_PROI(apiId) \
     UT_ROBOT_CLIENT_REG_API(apiId, 0)
 
-#define UT_ROBOT_CLIENT_REG_API(apiId, proirity) \
-    RegistApi(apiId, proirity)
+#define UT_ROBOT_CLIENT_REG_API(apiId, priority) \
+    RegistApi(apiId, priority)
 
 namespace unitree
 {
@@ -41,8 +41,10 @@ class Client: public ClientBase
     int32_t Call(int32_t apiId, const std::vector<uint8_t>& parameter, std::vector<uint8_t>& data);
     int32_t Call(int32_t apiId, const std::vector<uint8_t>& parameter);
 
-    void RegistApi(int32_t apiId, int32_t proirity = 0);
-    int32_t CheckApi(int32_t apiId, int32_t& proirity, int64_t& leaseId);
+    int32_t Call(int32_t apiId, const std::string& parameter, const std::vector<uint8_t>& binary);
+
+    void RegistApi(int32_t apiId, int32_t priority = 0);
+    int32_t CheckApi(int32_t apiId, int32_t& priority, int64_t& leaseId);
 
 private:
     bool mEnableLease;

diff --git a/include/unitree/robot/client/client_base.hpp b/include/unitree/robot/client/client_base.hpp
@@ -29,13 +29,15 @@ class ClientBase
     void SetTimeout(float timeout);
 
 protected:
-    int32_t Call(int32_t apiId, const std::string& parameter, std::string& data, int32_t proirity, int64_t leaseId);
+    int32_t Call(int32_t apiId, const std::string& parameter, std::string& data, int32_t priority, int64_t leaseId);
     int32_t Call(int32_t apiId, const std::string& parameter, int32_t priority, int64_t leaseId);
 
-    int32_t Call(int32_t apiId, const std::vector<uint8_t>& parameter, std::vector<uint8_t>& bin_data, int32_t proirity, int64_t leaseId);
+    int32_t Call(int32_t apiId, const std::vector<uint8_t>& parameter, std::vector<uint8_t>& bin_data, int32_t priority, int64_t leaseId);
     int32_t Call(int32_t apiId, const std::vector<uint8_t>& parameter, int32_t priority, int64_t leaseId);
 
-    int32_t Call(int32_t apiId, const std::string& parameter, std::string& data, int32_t proirity, int64_t leaseId, int64_t timeout);
+    int32_t Call(int32_t apiId, const std::string& parameter, const std::vector<uint8_t>& binary, int32_t priority, int64_t leaseId);
+
+    int32_t Call(int32_t apiId, const std::string& parameter, std::string& data, int32_t priority, int64_t leaseId, int64_t timeout);
 
     void SetHeader(RequestHeader& header, int32_t apiId, int64_t leaseId, int32_t priority, bool noReply);
 

diff --git a/lib/aarch64/libunitree_sdk2.a b/lib/aarch64/libunitree_sdk2.a
diff --git a/lib/x86_64/libunitree_sdk2.a b/lib/x86_64/libunitree_sdk2.a