From 70c6f571bedfd1bcf1127dd95cf47d0409c6e2e4 Mon Sep 17 00:00:00 2001 From: "jihui.wang" Date: Tue, 31 Dec 2024 17:04:56 +0800 Subject: [PATCH] Client update Call methods, add jsonize types --- include/unitree/common/json/jsonize.hpp | 16 ++++++++++++++++ include/unitree/robot/client/client.hpp | 10 ++++++---- include/unitree/robot/client/client_base.hpp | 8 +++++--- lib/aarch64/libunitree_sdk2.a | Bin 28776098 -> 28780762 bytes lib/x86_64/libunitree_sdk2.a | Bin 27395358 -> 27399438 bytes 5 files changed, 27 insertions(+), 7 deletions(-) diff --git a/include/unitree/common/json/jsonize.hpp b/include/unitree/common/json/jsonize.hpp index 901a699..3cdec1e 100644 --- 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 index 602bead..7364099 100644 --- 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& parameter, std::vector& data); int32_t Call(int32_t apiId, const std::vector& 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& 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 index 7ef127e..b59cb43 100644 --- 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& parameter, std::vector& bin_data, int32_t proirity, int64_t leaseId); + int32_t Call(int32_t apiId, const std::vector& parameter, std::vector& bin_data, int32_t priority, int64_t leaseId); int32_t Call(int32_t apiId, const std::vector& 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& 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 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