Sucan126
2189d7841f
- Deleted the UseRemoteCommandFromApi, MoveToAbsolutePosition, and MoveToIncrementPosition methods from the controller interface and implementation. This further simplifies the code structure and enhances maintainability.
85 lines
2.1 KiB
C++
85 lines
2.1 KiB
C++
#pragma once
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#include <memory>
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#include <atomic>
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#include <nlohmann/json.hpp>
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#include <unitree/robot/go2/sport/sport_client.hpp>
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#include <unitree/robot/go2/obstacles_avoid/obstacles_avoid_client.hpp>
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#include <unitree/robot/b2/motion_switcher/motion_switcher_client.hpp>
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#include <unitree/robot/go2/video/video_client.hpp>
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#include <unitree/robot/go2/vui/vui_client.hpp>
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#include <unitree/robot/channel/channel_subscriber.hpp>
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#include <unitree/idl/go2/SportModeState_.hpp>
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#include "logger.hpp"
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namespace custom {
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class Controller {
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public:
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Controller();
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~Controller();
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bool initialize();
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bool start();
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bool stop();
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void shutdown() { stop(); }
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bool isRunning() const { return running_; }
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// Sport
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bool StandUp();
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bool StandDown();
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bool Sit();
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bool Damp();
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bool RecoveryStand();
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bool StopMove();
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bool BalanceStand();
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bool Euler(float roll, float pitch, float yaw);
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bool Move(float vx, float vy, float vyaw);
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bool RiseSit();
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bool SpeedLevel(int level);
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bool Hello();
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bool Stretch();
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bool SwitchJoystick(bool flag);
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bool Heart();
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bool Pose(bool flag);
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bool Scrape();
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bool FrontFlip();
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bool FrontJump();
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bool FrontPounce();
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bool Dance1();
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bool Dance2();
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bool TrajectoryFollow(const std::vector<std::array<float, 6>>& path);
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bool FootRaiseHeight(float height);
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// Obstacle
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bool SwitchSet(bool enable);
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bool SwitchGet(bool& enable);
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// MotionSwitcher
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bool CheckMode(std::string& form, std::string& name);
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bool SelectMode(const std::string& nameOrAlias);
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bool ReleaseMode();
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private:
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template<typename Func>
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bool ExecuteSportCmd(Func&& func);
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template<typename Func>
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bool ExecuteObstacleCmd(Func&& func);
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template<typename Func>
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bool ExecuteMotionSwitchCmd(Func&& func);
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std::unique_ptr<unitree::robot::go2::SportClient> sc_;
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std::unique_ptr<unitree::robot::go2::ObstaclesAvoidClient> oac_;
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std::unique_ptr<unitree::robot::b2::MotionSwitcherClient> msc_;
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std::atomic<bool> running_;
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std::atomic<bool> initialized_;
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};
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} // namespace custom
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