Sucan126
c5cff9fbdb
- Added LowController class to manage low-level commands and communication. - Updated CustomRobot to initialize and manage LowController, including methods for processing low-level commands. - Enhanced logger functionality with variadic template methods for formatted logging. - Updated CMakeLists.txt to include the new low_controller.cpp source file and low_controller.hpp header.
43 lines
1.0 KiB
C++
43 lines
1.0 KiB
C++
#ifndef LOW_CONTROLLER_HPP
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#define LOW_CONTROLLER_HPP
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#include <unitree/robot/channel/channel_publisher.hpp>
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#include <unitree/idl/go2/LowCmd_.hpp>
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#include <unitree/common/thread/thread.hpp>
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#include <atomic>
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#define TOPIC_LOWCMD "rt/lowcmd"
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constexpr double PosStopF = (2.146E+9f);
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constexpr double VelStopF = (16000.0f);
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namespace custom {
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class LowController {
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public:
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LowController();
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~LowController();
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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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void requestAutoCharge(bool enable);
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void powerOff();
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private:
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void publishLoop();
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void initLowCmd();
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static uint32_t crc32_core(uint32_t* ptr, uint32_t len);
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unitree::robot::ChannelPublisherPtr<unitree_go::msg::dds_::LowCmd_> lowcmd_publisher_;
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unitree_go::msg::dds_::LowCmd_ low_cmd_{};
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unitree::common::ThreadPtr publish_thread_;
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std::atomic<bool> running_{false};
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};
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} // namespace custom
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#endif // LOW_CONTROLLER_HPP
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