[refactor] 移除内置的rc_sdk，增加rc_sdk仓库作为子模块

saturn_controller/rc_sdk

@@ -0,0 +1 @@
+Subproject commit d5d586debe89ea73f6faa3da6c51371c9fc4ef4f

saturn_controller/sdk

@@ -0,0 +1 @@
+rc_sdk/sdk

saturn_controller/sdk/include/com_define.h

@@ -1,143 +0,0 @@
-#ifndef _COM_CONFIG_H_
-#define _COM_CONFIG_H_
-
-#define THE_TRQ_SENSOR_NUM 18
-#define PI 3.14159265358979323846
-#define MAX_SLAVE_NUM 24
-#define CONTROL_RATE 1000
-
-#define THE_CAN_DRIVER_NUM 18
-
-//single leg test
-// #define MOTOR_NUM 3
-// #define LEG_NUMBER 1
-
-//six legs
-#define MOTOR_NUM 18
-#define LEG_NUMBER 6
-
-//视觉落脚点
-#define HEIGHT_MAP_HEIGHT 30 //改成80
-#define HEIGHT_MAP_WIDTH 30 //改成80
-
-#define GRID_SIZE 0.04
-
-#define DEPTH_IMAGE_HEIGHT 300
-#define DEPTH_IMAGE_WIDTH 400
-
-#define RGB_IMAGE_HEIGHT 300
-#define RGB_IMAGE_WIDTH 400
-
-#define DRIVER_WATCH_DOG_TIMEOUT 3000
-
-#define MAX_ERROR_QUEUE_SIZE 200
-#define CODE_WHEEL_NUM 5
-#define JOINT_CODE_WHEEL_NUM 20
-
-typedef enum _DRIVE_MODE{
-    POSITION_MODE = 0,
-    VELOCITY_MODE,
-    TORQUE_MODE,
-    GOHOME_MODE,
-    TORQUE_FF_MODE,
-    PP_MODE
-}DRIVE_MODE;
-
-typedef enum _DRIVER_PARAM_SETTING_CMD{
-    CMD_NULL = 0,
-    CLEAR_BISS_ERR,
-    READ_BISS_ERR_INFO,
-    READ_DRIVER_STRING_ERR,
-    READ_DRIVER_COMMON_ERR,
-    SET_ENCODER_POWER_50,
-    SET_ENCODER_POWER_26,
-    SET_ENCODER_POWER_14,
-    SET_ENCODER_POWER,
-    READ_DRIVER_STRING_STO_ERR,
-	DRIVER_FOE_UPDATE,
-	SET_ENCODER_ZERO_AND_SAVE,
-    CMD_MAX
-}DRIVER_PARAM_SETTING_CMD;
-
-typedef enum _EN_DRIVER_ECAT_SLAVES_TYPE{
-	NONE_DRIVER_TYPE = 0,
-	LING_KONG_DRIVER_TYPE = 1,
-	LENOVO_S_CAN_DRIVER_TYPE = 2,
-	LENOVO_M_DRIVER_TYPE = 3,
-	MOTOREVO_DRIVER_TYPE = 4,
-	SYNAPTICON_DRIVER_TYPE = 5,
-	LENOVO_S_ECAT_DRIVER_TYPE = 6,
-}EN_DRIVER_ECAT_SLAVES_TYPE;
-
-typedef enum _EN_TRQ_SENSOR_ECAT_SLAVES_TYPE {
-	NONE_TRQ_SENSOR_TYPE = 0,
-	SJTU_TRQ_SENSOR_TYPE = 1,
-	YULI_TRQ_SENSOR_TYPE = 2,
-}EN_TRQ_SENSOR_ECAT_SLAVES_TYPE;
-
-typedef enum _EN_BMS_TYPE {
-	NONE_BMS = 0,
-	MERBER,
-	MICRO_BOARD_BMS
-}EN_BMS_TYPE;
-
-typedef enum _EN_EMOJI_LIGHT_TYPE{
-	NONE_LED_TYPE = 0,
-	ONLY_LED_TYPE = 1,
-	EMOJI_LED_TYPE = 2,
-}EN_EMOJI_LIGHT_TYPE;
-
-typedef enum _EN_MICRO_EMOJI_CONTROL_CMD {
-	LED_NULL = 0,
-    EMOJI_CLOSE,  //关闭所有LED
-    EMOJI_OFF,  //关机
-    EMOJI_ON,  //开机
-    EMOJI_RUN,  //正常运行
-    EMOJI_SMILE,  //笑脸
-    EMOJI_CRY,  //哭泣
-    EMOJI_FOLLOW,  //跟随
-    LOW_BATTERY,  //低电量
-    LED_CHARGING,  //充电中(>50%)
-    LED_LOWCHARGING,  //充电中(<49%)
-    LED_CHARGE_DONE  //充电完成
-}EN_MICRO_EMOJI_CONTROL_CMD;
-
-typedef enum _EN_MICRO_BMS_CMD {
-	BMS_VOLTAGE,  // 2Byte 获取电压（单位10mv）
-	BMS_CURRENT,  // 2Byte 获取电流（单位10mA）充电为正，放电为负
-	BMS_SOC,  // 2Byte 剩余容量（单位10mAh）
-	BMS_FCC,  // 2Byte 实际充满容量（单位10mAh）
-	BMS_RSOC,  // 1Byte 剩余容量百分比
-	BMS_TEMP,  // 1Byte 电池温度（单位度）
-	BMS_STATE,  // 2Byte 保护状态
-	BMS_INFO, //45Byte BMS完整信息
-	BMS_CMD0,  // 解除软件关闭MOS管动作
-	BMS_CMD1,  // 软件关闭充电MOS, 解除软件关闭放电MOS
-	BMS_CMD2,  // 软件关闭放电MOS,解除软件关闭充电MOS
-	BMS_CMD3,  // 软件同时关闭充放电MOS
-	BMS_CHARGING, //充电指令，成功，0xff01dd, 失败 0xff02dd 充电完成0xff03dd  总共6Byte
-	BMS_DISCHARGING //关闭充电 成功0xff01dd 失败0xff02dd 总共6Byte
-}EN_MICRO_BMS_CMD;
-
-typedef enum _EN_LAMP_EFFECT_THEME{
-	NONE_LAMP_THEME = 0,
-	SNOW_BLACK_THEME = 1,
-	COLD_GREY_THEME = 2,
-}EN_LAMP_EFFECT_THEME;
-
-typedef enum _ROBOT_DRIVER_TYPES{
-	GS_SYNAPTICON = 0,
-	IS_FORCE_POS_MIXING = 1,
-	IS_ONLY_FORCE = 2,
-}ROBOT_DRIVER_TYPES;
-
-typedef enum _ROBOT_BODY_TYPES{
-	NULL_TYPE = 0,
-	HEXAPOD = 1,
-	QUADRUPED = 2
-}ROBOT_BODY_TYPES;
-
-#define UNUSED(x) (void)(x)
-#define LOG_LENGTH 256
-
-#endif

saturn_controller/sdk/include/common.h

@@ -1,704 +0,0 @@
-#ifndef COMMON_H
-#define COMMON_H
-
-#include <cstring>
-#include <string>
-#include "com_define.h"
-// #include <Eigen/Dense>
-
-typedef struct ROBOT_CONFIG_
-{
-    //utility
-    double dt;
-    double legIsRightLst[LEG_NUMBER];
-
-    //kinematics and dynamics
-    double l0;
-    double l1;
-    double l2;
-    double lMin2;
-    double hip[LEG_NUMBER][3];
-    double legs_offset[LEG_NUMBER];
-
-    //dynamics
-    double m;
-    double inertia[3][3];
-    double leg_m;
-
-    //control paramters
-    double legStiffSw[3];
-    double legStiffSt[3];
-    double legDamp[3];
-    double legStiffSphSw[3];
-    double legStiffSphSt[3];
-    double legDampSph[3];
-    double jntStiffSw[3];
-    double jntStiffSt[3];
-    double jntDamp[3];
-    double qddKp[3];
-    double qddKd[3];
-
-    //gait parameters
-    double offset_lst[LEG_NUMBER];
-    double stdP[LEG_NUMBER][3];
-    double bodyH;
-
-    // constraints
-    double wdMax;
-
-    //compensation
-    double fricComp[3];
-    
-}ROBOT_CONFIG;
-
-typedef union {
-    float array[3];
-    struct {
-        float x;
-        float y;
-        float z;
-    } axis;
-} MeasurementVector;
-
-typedef union {
-    float array[3];
-    struct {
-        float roll;
-        float pitch;
-        float yaw;
-    } axis;
-} EulerAngleVector;
-
-typedef union{
-    double array[9];
-} Covariance;
-
-/**
- * @brief Quaternion.
- */
-typedef union {
-    float array[4];
-    struct {
-        float w;
-        float x;
-        float y;
-        float z;
-    } element;
-} QuaternionVector;
-
-typedef union {
-    float array[3];
-    struct {
-        float x;
-        float y;
-        float z;
-    } axis;
-} GPSVector;
-
-typedef struct TOP_CONFIG_INFO_{
-    std::string robot_type;
-    ROBOT_DRIVER_TYPES body_model;
-}TOP_CONFIG_INFO;
-
-namespace robot_control
-{
-    namespace common
-    {
-        const int GAIT_MSG_CAPACITY = 200;
-
-        enum class CoreState {
-            BOOT = 0,
-            IDLE = 1,
-            JOINTS_TEST = 2,
-            STAND_STILL = 3,
-            IN_PLANNING = 4
-        };
-
-        enum GaitMsgType //这里如果修改成enum class，需要芳勇配合修改参数接口
-        {
-            GMT_NO_MSG = 0,
-            GMT_START = 1,
-            GMT_ONLINE = 2,
-            GMT_EM_STOP = 3,
-            GMT_JOINT_CONTROL = 4,
-            GMT_GAIT_MODE = 5
-        };
-
-        enum GaitID //这里如果修改成enum class，需要芳勇配合修改参数接口
-        {
-            GID_NO_GAIT    = 0,
-            GID_IDLE_GAIT  = 1,
-            GID_STANDSTILL = 2,
-            GID_RECOVER    = 3,
-            GID_HEX_NIMBLE     = 4,
-            GID_JOINT_TEST = 5,
-            GID_RL  = 6, //强化学习步态
-            GID_JOINT_TRAJECTORY_CONTROL  = 7,
-            GID_POSE_ADJUSTMENT=8,
-            GID_FOOT_ADJUST=9,
-            GID_LEG_TEST=10,
-            GID_QUA_NIMBLE = 11,
-            GID_MAX = 12
-        };
-
-        class GaitMsgHeader
-        {
-        public:
-            short int gait_msg_type;
-            short int gait_id;
-            int data_length;
-        };
-
-        class GaitMsg
-        {
-        public:
-            GaitMsgHeader header;
-            char data[GAIT_MSG_CAPACITY];
-            inline int getAllDataLength()
-            {
-                return header.data_length + sizeof(GaitMsgHeader);
-            }
-        };
-
-        class Pose
-        {
-        public:
-            float q[4];
-            float gyro[3];
-            float acc[3];
-        };
-
-        class ModelInput
-        {
-        public:
-            unsigned long count;
-            double actual_pos[MOTOR_NUM];
-            double actual_vel[MOTOR_NUM];
-            double actual_trq[MOTOR_NUM]; // trq read from the motor current
-            double mea_trq[MOTOR_NUM];    // trq read from the torque sensor
-            Pose body_pose;
-            GaitMsg gait_msg;
-            bool is_stand_up;
-            int planner_stage;
-        public:
-            ModelInput()
-            {
-                is_stand_up = false;
-            }
-        };
-
-        struct JointTestData
-        {
-            unsigned int axis_bitmask;
-            float mag;
-            float period;
-            float kp_pos;
-            float kd_pos;
-            float kp_cur;
-            float mu_clb;
-            int test_type;
-        };
-
-        class ModelOutput
-        {
-        public:
-            unsigned long count;
-            double target_pos[MOTOR_NUM];
-            double target_vel[MOTOR_NUM];
-            double target_trq[MOTOR_NUM];
-            double target_kp[MOTOR_NUM];
-            double target_kd[MOTOR_NUM];
-            CoreState core_state;
-            GaitID current_gait_id;
-        };
-
-        typedef struct MC_QUATERNIONS_{
-            float x;
-            float y;
-            float z;
-            float w;
-        }MC_QUATERNIONS;
-
-        typedef struct MC_COORDINATE_{
-            float x;
-            float y;
-            float z;
-        }MC_COORDINATE;
-
-        typedef struct MC_MOTION_IMU_DATA_{
-            uint64_t timestamp;
-            MC_QUATERNIONS orientation;
-            double orientation_covariance[9];
-            MC_COORDINATE angular_velocity;
-            double angular_velocity_covariance[9];
-            MC_COORDINATE linear_acceleration;
-            double linear_acceleration_covariance[9];
-        }MC_MOTION_IMU_DATA;
-
-        typedef struct JOY_KEY_TYPE_{
-            bool stand_up;
-            int move_mode;
-            int speed_gear;
-            double dynamic_speed_x;
-            double dynamic_speed_y;
-            double static_speed_x;
-            double static_speed_y;
-        }JOY_KEY_TYPE;
-
-        typedef enum ROBOT_DIRECTION_{
-            FRONT = 0,
-            REAR,
-            LEFT,
-            RIGHT
-        }ROBOT_DIRECTION;
-
-        typedef struct ROBOT_TWIST_{
-            MC_COORDINATE linear;
-            MC_COORDINATE angular;
-        }ROBOT_TWIST;
-
-        //0: Trot（默认）1: 奔跑  2: 跳跃 3: Saturn标志动作
-        typedef enum ROBOT_GAIT_{
-            TROT = 0,
-            RUN,
-            JUMP,
-            SATURN,
-            NIMBLE
-        }ROBOT_GAIT;
-
-        //int32 model = 1; //0: 自主导航， 1,遥控控制
-        typedef enum ROBOT_CONTROL_MOVE_MODE_{
-            NAVIGATION = 0,
-            JOY
-        }ROBOT_CONTROL_MOVE_MODE;
-
-        typedef enum DRIVER_ENABLE_STATE_{
-            UNKNOW = 0,
-            ENABLED,
-            ENABLING,
-            ENABLE_FAILED,
-            DISABLED
-        }DRIVER_ENABLE_STATE;
-
-        typedef enum EQA_STATE_{
-            EQA_NULL = 0,
-            LISTEN = 1,
-            THINK = 2,
-            EXECUTE = 3
-        }EQA_STATE;
-
-        //scene = 1;	//0: 平地 , 1: 楼梯 , 2: 沟壑 , 3: 陡坡 , 4: 限高
-        typedef enum SCENE_TYPE_{
-			NULL_SCENE = 0,
-            LIE_DOWN = 1,
-            WALKING = 2,
-            STAIRS = 3,
-            CHARGE = 4,
-            PERCEIVE_STAIRS = 5,
-            SNOW = 6,
-            SLIPPY = 7,
-            STONE = 8
-        }SCENE_TYPE;
-
-        //机器人场景切换状态枚举
-        typedef enum SCENE_SWITCH_STATE_{
-			NULL_SCENE_SWITCH = 0,
-            SWITCHING = 1,
-            SWITCH_SUCCEEDED = 2,
-            SWITCH_FAILED = 3
-        }SCENE_SWITCH_STATE;
-
-        typedef enum BODY_POSTURE_STATE_{
-            NULL_POSTURE = 0,
-            STARTMOVING = 1,
-            MOVING = 2,
-			LIEDOWN = 3,
-            STANDUP = 4,
-            CHARGING=5  //在桩上  可能是充电，也可能已经充满了
-        }BODY_POSTURE_STATE;
-
-        //相机位置  
-        typedef enum CHARGE_POSITION_STATE_{
-            NULL_POSITION = 0,
-            POSITION_OFF = 1,    //找不到位置 默认状态
-            POSITION_FINDING = 2,//搜寻位置此时需要用户手动控制机器人进行移动
-            POSITION_ONLINE = 3, //位置信息在线
-            POSITION_FAILED = 4  //用户调整超时后进入该状态，考虑二维码破损造成的情况
-        }CHARGE_POSITION_STATE;
-        //上桩过程枚举
-        typedef enum CHARGE_SWITCH_STATE_{
-            NULL_CHARGE_SWITCH = 0,
-            EXIT_SUCCEEDED = 1,  
-            EXITING_TILE = 2, 
-            EXIT_FAILED=3, 
-            ENTER_SUCCEEDED = 4,
-            ENTERING_TILE = 5,
-            ENTER_FAILED=6   //尝试上桩超过三次后进入该状态
-        }CHARGE_SWITCH_STATE;
-
-        typedef enum AUTO_CHARGE_STATE_{
-            null_charge = 0,
-            uncharge = 1,
-            charging = 2,
-            charge_finished = 3
-        }AUTO_CHARGE_STATE;
-
-        typedef struct ROBOT_BATTERY_INFO_{
-            float level; //机器人电池当前电量
-            AUTO_CHARGE_STATE state; //用来表示机器人电池 没充电 ，充电中，充电结束的状态 
-        }ROBOT_BATTERY_INFO;
-
-        typedef struct BODY_ODOMETRY_{
-            ROBOT_TWIST twist;
-            //geometry_msgs/Pose Point & Quaternion
-            MC_COORDINATE point;
-            MC_QUATERNIONS quaternion;
-            // 6*6 covariance matrix
-            // repeated pose = 2;
-        }BODY_ODOMETRY;
-
-        //充电相关状态 
-        typedef struct ROBOT_CHARGE_STATUS_{ //运动控制主机和手机通讯的内容
-            std::string charge_tile_name;           //充电桩唯一标识符 （考虑当前是否需要）
-            CHARGE_POSITION_STATE position_state;   //检测到二维码位置时进行进行自动充电模式 反馈到手机
-            CHARGE_SWITCH_STATE   charge_switch_state; //上桩过程状态   反馈到手机
-            bool charge_succeeded;                  //电池与充电桩连接成功正在充电标志位  该标志位需要BMS与充电桩通信确认
-            ROBOT_BATTERY_INFO battery_info;
-            bool user_quit_charge_flag;
-        }ROBOT_CHARGE_STATUS;
-
-        typedef struct JETSON_CHARGE_STATE_{ //回冲功能上传Jetson的信息
-            long heartbeat;                //心跳信息
-            bool sensnor;                  //是否打开相机    Jetson 读该信息 
-        }JETSON_CHARGE_STATE;
-
-        typedef struct JETSON_CHARGE_COMMAND_{ //Jetson主机下发指令到运动主机的信息
-            bool tag_state;				     //检测到二维码    Jetson 写该信息
-            MC_QUATERNIONS position;         //充电桩位置信息  Jetson 写该位置
-        }JETSON_CHARGE_COMMAND;
-        
-        //Jetson回冲相关的状态统一放在这里
-        typedef struct JETSON_CHARGE_INFO_{ //统一管理接口
-            JETSON_CHARGE_STATE charge_state;       //与充电相关的机器人状态
-            JETSON_CHARGE_COMMAND charge_command;    //充电相关的位置信息
-        }JETSON_CHARGE_INFO;
-
-        //视觉落脚点功能，从运动控制主机上传到Jetson主机所用的数据类型,实机
-        typedef struct JETSON_VISUAL_FOOTHOLD_STATE_{
-            uint64_t timestamp;
-            robot_control::common::BODY_ODOMETRY robot_odometry;
-            float touch_detection[LEG_NUMBER];
-            float tip_position_wrt_hip[LEG_NUMBER * 3];
-            float vf_planned_tip_position_wrt_base[LEG_NUMBER * 3]; //规划出的足端相对机器人base的位置
-            bool camera_switch; //是否打开相机
-        }JETSON_VISUAL_FOOTHOLD_STATE;
-
-        //视觉落脚点功能，从Jetson主机下发数据到运动控制主机的数据类型
-        typedef struct JETSON_VISUAL_FOOTHOLD_COMMAND_{
-            uint64_t timestamp;
-            float map_center_point[2];
-            float body_pos_act[3];
-            float body_vel_act[3]; //现在机器人身体实际的速度并没有被用到，临时借用一下作为雷达最新的数据
-            float body_pos_est[3];
-            float body_vel_est[3];
-            float body_orn_act[4];
-            
-            float body_gyr_act[3];
-            float body_orn_est[4];
-            float body_gyr_est[3];
-            unsigned int neigh_height_map[HEIGHT_MAP_HEIGHT][HEIGHT_MAP_WIDTH];
-            unsigned int neigh_roughness_map[HEIGHT_MAP_HEIGHT][HEIGHT_MAP_WIDTH];
-            unsigned int neigh_smoothness_map[HEIGHT_MAP_HEIGHT][HEIGHT_MAP_WIDTH];
-        }JETSON_VISUAL_FOOTHOLD_COMMAND;
-
-        typedef struct DEPTH_IMAGE_{
-            int image[DEPTH_IMAGE_HEIGHT][DEPTH_IMAGE_WIDTH];
-        }DEPTH_IMAGE;
-
-        typedef struct RGB_IMAGE_{
-            int image[RGB_IMAGE_HEIGHT][RGB_IMAGE_WIDTH];
-        }RGB_IMAGE;
-
-        //视觉落脚点相关的状态统一放在这里
-        typedef struct JETSON_VISUAL_FOOTHOLD_INFO_{ //统一管理接口
-            uint64_t timestamp;
-            JETSON_VISUAL_FOOTHOLD_COMMAND vis_foothold_command;  
-            float touch_detection[LEG_NUMBER];
-            float tip_position_wrt_hip[LEG_NUMBER * 3]; //当前机器人足端相对髋关节坐标系的位置
-            float vf_planned_tip_position_wrt_base[LEG_NUMBER * 3]; //规划出的足端相对机器人base的位置
-            bool camera_switch; //是否打开相机
-        }JETSON_VISUAL_FOOTHOLD_INFO;
-
-        typedef enum _STAIRS_HEIGH_STATE{
-            STAIRS_HEIGH_NULL = 0,
-            STAIRS_LESS_THAN_16CM = 1,
-            STAIRS_LESS_THAN_20CM = 2,
-            STAIRS_LESS_THAN_30CM = 3,
-        }STAIRS_HEIGH_STATE;
-
-        typedef struct ROBOT_DRIVER_VALUE_{
-            double position;
-            double velocity;
-            double torque;
-            double torque_sensor;
-        }ROBOT_DRIVER_VALUE;
-
-        typedef enum NAV_OR_JOY_MODE_{
-            nall_control = 0,
-            nav_control = 1,
-            joy_control = 2
-        }NAV_OR_JOY_MODE;
-
-        typedef enum LIE_DOWN_ADJUST_{
-            null = 0,
-            start_to_adjust = 1,
-            adjusting = 2,
-            nimble_stop = 3,
-            finish = 4
-        }LIE_DOWN_ADJUST_;
-
-        //停障功能从navigation端接收到的结果
-        //在目前的使用中，当float<=-2，代表存在障碍物，否则代表不存在障碍物
-        typedef struct GUARDIAN_VELOCITY_DECAY_RATIO_{
-            float left_ratio;
-            float front_ratio;
-            float right_ratio;
-            float rear_ratio;
-        }GUARDIAN_VELOCITY_DECAY_RATIO;
-
-        typedef enum CALIBRATE_POSE_STATE_{
-            NULL_STATE = 0,
-            START_CALIBRATE = 1,
-            CALIBRATE_SUCCESS = 2,
-            CALIBRATE_FAILED = 3
-        }CALIBRATE_POSE_STATE;
-
-        typedef enum TERRAIN_SEG_DETECTION_RESULTS_{
-            NULL_TERRAIN = 0,
-            WEI_ZHI = 1,
-            CAO_DI = 2,
-            CI_ZHUAN = 3,
-            DI_BAN = 4,
-            DI_TAN = 5,
-            LI_QING_LU_MIAN = 6,
-            LOU_TI = 7,
-            LUAN_SHI_DI_MIAN = 8,
-            LU_ZHUAN = 9,
-            SHUI_NI_DI = 10,
-            TAI_JIE = 11
-        }TERRAIN_SEG_DETECTION_RESULTS;
-
-        typedef struct ROBOT_COMMON_STATUS_{
-            int network; //机器人当前网络状态
-            BODY_POSTURE_STATE belie_or_stand; //机器人处于站立趴下状态(目前不用，芳勇认为测试中可能会用)
-            bool emergency; //是否是处于紧急状态
-            bool avoidance; //自动避障状态
-            long int heartbeat; //心跳
-            float cur_speed; //当前速度
-            float cur_height; //当前高度
-            MC_QUATERNIONS position; //机器人世界坐标系下的位置，xyz与yaw角
-            float max_height; //机器人最大高度
-            float max_speed; //机器人最大速度
-            SCENE_SWITCH_STATE cur_scene_switch_state; //切换场景是否成功
-            SCENE_TYPE cur_scene; //当前处于的场景,预设站立 预设应该是趴下比较合理
-            DRIVER_ENABLE_STATE driver_enable_state;
-            //机器人里程计信息
-            BODY_ODOMETRY odometry;
-            float tip_position_wrt_hip[LEG_NUMBER*3];//足端相对髋关节坐标系位置
-            float vf_planned_tip_position_wrt_base[LEG_NUMBER * 3];
-            float touch_detection[LEG_NUMBER];//触地检测，范围从0到1.0, 等于1.0为绝对触地，后期会变为概率，但目前还是只有1或者0两种可能
-            float target_body_orientation[3]; //raw pitch yaw
-
-            //错误代码
-            int error_code;
-            bool has_error;
-            unsigned int error_wheel[CODE_WHEEL_NUM];
-            unsigned int warn_wheel[CODE_WHEEL_NUM];
-            unsigned int note_wheel[CODE_WHEEL_NUM];
-            unsigned int joint_error_wheel[JOINT_CODE_WHEEL_NUM];
-            unsigned int joint_warn_wheel[JOINT_CODE_WHEEL_NUM];
-            unsigned int joint_note_wheel[JOINT_CODE_WHEEL_NUM];
-            ROBOT_CHARGE_STATUS charge_status;
-            bool salute_state;
-            NAV_OR_JOY_MODE joy_mode;
-            EQA_STATE eqa_state;
-
-            bool guardian_switch; //表示当前停障功能的开关的状态
-            bool visual_foothold_switch; //表示当前视觉落脚点功能开关的状态
-            GUARDIAN_VELOCITY_DECAY_RATIO guardian_velocity_decay_ratio; //军营用于显示前左右三个方位的障碍
-
-            LIE_DOWN_ADJUST_ lie_down_adjust; //用于判断趴下前是否正在做足端位置调整  
-            float speed_bar_on_controller; //机器人遥控器上当前选中的线速度
-            CALIBRATE_POSE_STATE calibrate_pos_state;
-            int self_test_code;
-            int encoder_calibrate_state;
-
-            bool nav_pos_state;//当前导航定位位置是否正常
-            bool nav_init_pos;//是否尝试初始化导航定位
-            TERRAIN_SEG_DETECTION_RESULTS terrain_seg_result;
-            bool uwb_state;
-            STAIRS_HEIGH_STATE stairs_state;
-            bool weight_load_switch;
-            float cur_weight_load;
-            bool exceeding_weight_load;
-        }ROBOT_COMMON_STATUS;
-
-        typedef enum JOINT_LIMIT_STATE_{
-            NULL_LIMIT = 0,
-            LIMITED = 1,
-            NOLIMITED = 2
-        }JOINT_LIMIT_STATE;
-        //18个关节的关节状态
-        typedef struct ROBOT_JOINT_STATUS_{
-            std::string name;
-            float current;//电机数据（电流值）
-            float joint_temperature;//驱动器温度
-            float motor_temperature;//电机温度
-            float driver_cpu_temperature;//驱动器cpu温度
-            float torque_sensor_data;//扭矩传感器数据
-            double position;
-            double velocity;
-            double effort;
-            double max_limit;
-            double min_limit;
-            JOINT_LIMIT_STATE limit_state;
-            unsigned short driver_error_code;
-            unsigned short motor_error_code;
-            double target_position;
-            double target_velocity;
-            double target_effort;
-        }ROBOT_JOINT_STATUS;
-
-        typedef struct ROBOT_JOINTS_STATUS_{
-            ROBOT_JOINT_STATUS joints[MOTOR_NUM];
-            long int heartbeat;
-        }ROBOT_JOINTS_STATUS;
-
-        typedef struct ROBOT_PER_CYCLE_STATUS_{
-            int network;//机器人当前网络状态
-            bool lie_stand_state; //joystick连接状态
-            bool emergency; //是否是处于紧急状态
-            bool avoidance; //自动避障状态
-            long int heartbeat; //心跳
-            float speed;
-            MC_QUATERNIONS position;
-        }ROBOT_PER_CYCLE_STATUS;
-
-        typedef struct ROBOT_TARGET_VALUE_{
-            ROBOT_DRIVER_VALUE driver[MOTOR_NUM];
-            long int heartbeat;
-        }ROBOT_TARGET_VALUE;
-
-        typedef enum enFormOfMovement_
-        {
-            JOINTS_CONTROL = 0,
-            MOTION_CONTROL = 1
-        }enFormOfMovement;
-
-        typedef struct DRIVER_CONFIG_PARAMETER_{
-            std::string motor_name;
-            double position_scale;
-            double velocity_scale;
-            double torque_scale;
-            bool motor_direction;
-            bool direction_correction;
-            int index_map;
-            bool be_choosed;
-            double init_pos_offset;
-            double init_pos_offset_rough;
-            double position_min_limit;
-            double position_min_safety_limit;
-            double position_max_limit;
-            double position_max_safety_limit;
-            double min_limit_kp;
-            double min_limit_ki;
-            double min_limit_kd;
-            double max_limit_kp;
-            double max_limit_ki;
-            double max_limit_kd;
-            int convert_to_deceleration_end;
-            int one_turn_encorder_value;
-            double driver_kp_scale;
-            double driver_kd_scale;
-            double trq_safety_limit;
-            double target_torque;
-            bool init_pos_check_switch;
-            double init_position;
-            double init_position_error;
-        }DRIVER_CONFIG_PARAMETER;
-
-        typedef struct SENSOR_CONFIG_PARAMETER_{
-            double trq_sensor_scale;
-            double trq_sensor_offset;
-            bool trq_sensor_direction;
-            int index_map;
-        }SENSOR_CONFIG_PARAMETER;
-
-        typedef struct _JOINTS_CONFIG_INFO{
-            robot_control::common::DRIVER_CONFIG_PARAMETER driver_data[MOTOR_NUM];
-            robot_control::common::SENSOR_CONFIG_PARAMETER sensor_data[THE_TRQ_SENSOR_NUM];
-            bool trq_have_been_calibrated;
-            bool joint_position_have_been_calibrated;
-            bool encoder_has_been_reseted;
-        }JOINTS_CONFIG_INFO;
-
-        typedef struct _ROBOT_SPECIAL_CONFIG_INFO{
-            std::string bms_address;
-            std::string light_address;
-            EN_DRIVER_ECAT_SLAVES_TYPE driver_type;
-            EN_TRQ_SENSOR_ECAT_SLAVES_TYPE trq_sensor_type;
-            EN_BMS_TYPE bms_type;
-            EN_EMOJI_LIGHT_TYPE emoji_light_type;
-            EN_LAMP_EFFECT_THEME lamp_effect_theme;
-        }ROBOT_SPECIAL_CONFIG_INFO;
-
-        typedef enum _ROBOT_WORKING_ENVIRINMENT{
-            ROBOT_BODY_NON = 0,
-            ROBOT_BODY_REAL,
-            ROBOT_BODY_WEBOTS,
-            ROBOT_BODY_GAZEBO
-        }ROBOT_WORKING_ENVIRINMENT;
-
-        typedef enum LOG_LEVEL_{
-            LOG_LEVEL_NON = 0,
-            LOG_LEVEL_DEBUG,
-            LOG_LEVEL_NOTE,
-            LOG_LEVEL_WARNING,
-            LOG_LEVEL_ERROR,
-            LOG_LEVEL_ALL,
-            LOG_LEVEL_MAX
-        }LOG_LEVEL;
-
-        typedef enum LOG_MODULE_NAME_{
-            MODULE_NON = 0,
-            MODULE_CONTROL_CORE,
-            MODULE_ENTRY,
-            LOG_MODULE_MAX
-        }LOG_MODULE_NAME;
-
-        typedef struct ROBOT_POSE_ESTIMATE_{
-            MC_COORDINATE point;
-            MC_QUATERNIONS quaternion;
-        }ROBOT_POSE_ESTIMATE;
-        
-        typedef struct BMS_STATE_INFO_{
-            float sigle_overvoltage;
-            float remaining_capacity;
-            float battery_voltage_1th;
-            float battery_voltage_2th;
-            float battery_voltage_3th;
-            float battery_voltage_4th;
-            float battery_voltage_5th;
-            float battery_voltage_6th;
-            float total_voltage;
-            float discharging_current;
-            float remain_battery_capacity;
-            float reconfigurable_system_on_chip;
-            float battery_power;
-            bool  is_charging;
-        }BMS_STATE_INFO;
-        //Log config
-    } // namespace common
-}
-
-#endif

saturn_controller/sdk/include/error_code.h

@@ -1,103 +0,0 @@
-#ifndef ERROR_CODE__H
-#define ERROR_CODE__H
-
-//error
-#define RC_ERROR_INDEX_BEYOND_MIN_CODE                  0x00000001
-#define RC_ERROR_INDEX_BEYOND_MAX_CODE                  0x00000002
-#define RC_ERROR_DRIVER_ENABLE_FAILED_CODE              0x00000003
-#define RC_ERROR_IMU_DATA_IS_NOT_CORRECT_CODE           0x00000004
-#define RC_ERROR_DRIVER_BEYOND_LIMIT_CAN_NOT_ENABLE_CODE        0x00000005
-#define RC_ERROR_DRIVER_NEED_POS_CALIBRATE_CODE         0x00000006
-#define RC_ERROR_BATTARY_LEVEL_IS_TOO_LOW_CODE          0x00000007
-#define RC_ERROR_DRIVER_ENCODER_HAS_BEEN_RESET_CODE          0x00000008
-#define RC_ERROR_ROBOT_ESTOP_OCCURRED_CODE          0x00000009
-#define RC_ERROR_LIEDOWN_POSTURE_WITH_LEGS_PLACED_CODE               0x0000000A
-#define RC_ERROR_DRIVER_ENABLED_FAILED_WITHIN_DEADLINE_CODE               0x0000000B
-#define RC_ERROR_DRIVER_ENABLE_CANNOT_PASS_SELFCHECK_CODE              0x0000000C
-#define RC_ERROR_RUNTIME_BUS_NET_CANNOT_BUILD_CODE              0x0000000D
-#define RC_ERROR_CODE_CUR_MAX_INDEX                     0x0000000E
-
-#define RC_ERROR_MAX_INDEX_CODE                         (CODE_WHEEL_NUM * 32)
-
-
-#define RC_ERROR_INDEX_BEYOND_MIN_MSG  "The Error index value beyond the min limit."
-#define RC_ERROR_INDEX_BEYOND_MAX_MSG  "The Error index value beyond the max limit."
-#define RC_ERROR_DRIVER_ENABLE_FAILED_MSG   "The driver enable failed."
-#define RC_ERROR_IMU_DATA_IS_NOT_CORRECT_MSG    "The IMU data is not correct. Please check IMU."
-#define RC_ERROR_DRIVER_BEYOND_LIMIT_CAN_NOT_ENABLE_MSG "The joint is beyond limit, so can't enable. please rotate the joint."
-#define RC_ERROR_DRIVER_NEED_POS_CALIBRATE_MSG  "The driver's position need calibrate after power on."
-#define RC_ERROR_BATTARY_LEVEL_IS_TOO_LOW_MSG        "The Robot's battary is too low, must estop!"
-#define RC_ERROR_DRIVER_ENCODER_HAS_BEEN_RESET_MSG        "The Dirver's Encoder has been reset. You need recalibrate the robot joint position!"
-#define RC_ERROR_ROBOT_ESTOP_OCCURRED_MSG       "The Robot has been EStoped!"
-#define RC_ERROR_LIEDOWN_POSTURE_WITH_LEGS_PLACED_MSG      "The Robot's lie down posture is not correct."
-#define RC_ERROR_DRIVER_ENABLED_FAILED_WITHIN_DEADLINE_MSG      "The Robot's can't completed driver enable within the deadline."
-#define RC_ERROR_DRIVER_ENABLE_CANNOT_PASS_SELFCHECK_MSG    "The Robot's can't pass self check, so driver can't be Enabled."
-#define RC_ERROR_RUNTIME_BUS_NET_CANNOT_BUILD_MSG      "The Robot's runtime bus net can't be build, please check line and slaves."
-
-
-#define RC_JOINT_ERROR_CLEAR_7303_FAILED_CODE          0x00000001
-#define RC_JOINT_ERROR_STATUS_WORD_ERROR_CODE          0x00000002
-#define RC_JOINT_ERROR_OVER_VOLTAGE_CODE               0x00000003 
-#define RC_JOINT_ERROR_STO_DISABLE_CODE                0x00000004
-#define RC_JOINT_ERROR_POS_BEYOND_LIMIT_CODE           0x00000005
-#define RC_JOINT_ERROR_VEL_BEYOND_LIMIT_CODE           0x00000006
-#define RC_JOINT_ERROR_FORCE_BEYOND_LIMIT_CODE         0x00000007
-#define RC_JOINT_ERROR_POS_BEYOND_A_LOOP_CODE          0x00000008
-#define RC_JOINT_ERROR_POSITION_GAP_TOO_BIG_CODE       0x00000009
-#define RC_JOINT_ERROR_TRQ_SENSOR_IS_NOT_CORRECT_CODE  0x0000000A
-#define RC_JOINT_ERROR_ENCODER_BISERBIT_CODE           0x0000000B
-#define RC_JOINT_ERROR_ENCODER_BISWNBIT_CODE           0x0000000C
-#define RC_JOINT_ERROR_ENCODER_BATTERY_CODE            0x0000000D
-#define RC_JOINT_ERROR_MOTOR_FAULT_OCCURED_CODE            0x0000000E
-#define RC_JOINT_ERROR_DRIVER_FAULT_OCCURED_CODE            0x0000000F
-#define RC_JOINT_ERROR_DRIVER_CPU_TEMPERATURE_TOO_HEIGH_CODE        0x00000010
-#define RC_JOINT_ERROR_DRIVER_TEMPERATURE_TOO_HEIGH_CODE            0x00000011
-#define RC_JOINT_ERROR_MOTOR_TEMPERATURE_TOO_HEIGH_CODE             0x00000012
-#define RC_JOINT_ERROR_CODE_CUR_MAX_INDEX               0x00000013
-#define RC_JOINT_ERROR_MAX_INDEX_CODE                         (JOINT_CODE_WHEEL_NUM * 32)
-
-#define RC_JOINT_ERROR_CLEAR_7303_FAILED_MSG  "Clear driver's 7303 error, calibrate encode vlaue failed."
-#define RC_JOINT_ERROR_STATUS_WORD_ERROR_MSG    "The Driver has error, the status word is error.Maybe is 7303, but not sure. Please check log."
-#define RC_JOINT_ERROR_OVER_VOLTAGE_MSG    "The driver's valtage is too high."
-#define RC_JOINT_ERROR_STO_DISABLE_MSG     "Maybe the driver's STO button is disable. Please check and release it."
-#define RC_JOINT_ERROR_POS_BEYOND_LIMIT_MSG    "The driver's position is beyond the limit."
-#define RC_JOINT_ERROR_VEL_BEYOND_LIMIT_MSG    "The driver's velocity is beyond the limit."
-#define RC_JOINT_ERROR_FORCE_BEYOND_LIMIT_MSG    "The driver's force is beyond the limit."
-#define RC_JOINT_ERROR_POS_BEYOND_A_LOOP_MSG    "Driver position beyond a loop."
-#define RC_JOINT_ERROR_POSITION_GAP_TOO_BIG_MSG    "The driver's position occurred a huge springboard."
-#define RC_JOINT_ERROR_TRQ_SENSOR_IS_NOT_CORRECT_MSG    "The driver's trq sensor is not correct."
-#define RC_JOINT_ERROR_ENCODER_BISERBIT_MSG       "7303 error BisErBit."
-#define RC_JOINT_ERROR_ENCODER_BISWNBIT_MSG       "7303 error BisWnBit."
-#define RC_JOINT_ERROR_ENCODER_BATTERY_MSG       "Driver encoder battery 7303 error BisWnBit."
-#define RC_JOINT_ERROR_MOTOR_FAULT_OCCURED_MSG      "The motor has error. Please stop Robot."
-#define RC_JOINT_ERROR_DRIVER_FAULT_OCCURED_MSG      "The driver has error. Please stop Robot."
-#define RC_JOINT_ERROR_DRIVER_CPU_TEMPERATURE_TOO_HEIGH_MSG      "The driver's cpu temperature is too high. Please stop Robot."
-#define RC_JOINT_ERROR_DRIVER_TEMPERATURE_TOO_HEIGH_MSG      "The driver's temperature is too high. Please stop Robot."
-#define RC_JOINT_ERROR_MOTOR_TEMPERATURE_TOO_HEIGH_MSG      "The motor's temperature is too high. Please stop Robot."
-
-
-
-//warnning
-#define RC_WARN_MASTER_DATA_PACKET_LOSS_CODE            0x00000001
-#define RC_WARN_BATTARY_LEVEL_IS_TOO_LOW_CODE           0x00000002
-#define RC_WARN_CODE_CUR_MAX_INDEX                      0x00000003
-#define RC_WARN_MAX_INDEX_CODE                          (CODE_WHEEL_NUM * 32)
-
-
-#define RC_WARN_MASTER_DATA_PACKET_LOSS_MSG         "The EtherCat Master's data packet lossed."
-#define RC_WARN_BATTARY_LEVEL_IS_TOO_LOW_MSG        "The Robot's battary is too low, please charge!"
-
-#define RC_JOINT_WARN_CODE_CUR_MAX_INDEX                      0x00000001
-#define RC_JOINT_WARN_MAX_INDEX_CODE                          (JOINT_CODE_WHEEL_NUM * 32)
-
-//note
-#define RC_NOTE_DRIVER_TEMPERATURE_TOO_HIGH_CODE        0x00000001
-#define RC_NOTE_CODE_CUR_MAX_INDEX                      0x00000002
-#define RC_NOTE_MAX_INDEX_CODE                          (CODE_WHEEL_NUM * 32)
-
-#define RC_NOTE_DRIVER_TEMPERATURE_TOO_HIGH_MSG         "The driver's temperature is too high."
-
-#define RC_JOINT_NOTE_CODE_CUR_MAX_INDEX                      0x00000001
-#define RC_JOINT_NOTE_MAX_INDEX_CODE                          (JOINT_CODE_WHEEL_NUM * 32)
-
-#endif

saturn_controller/sdk/include/mc_client_interface.h

@@ -1,158 +0,0 @@
-#ifndef MC_CLIENT_INTERFACE_H
-#define MC_CLIENT_INTERFACE_H
-
-#include <iostream>
-#include <memory>
-#include <string>
-#include <vector>
-#include "common.h"
-
-// extern "C" {
-
-using namespace robot_control;
-
-bool rcClientInterfaceInit(std::string target_ip);
-std::string rcClientInterfaceGetMcVersion(const int& index);
-std::string rcClientInterfaceGetRobotName(const int& index);
-bool rcClientInterfaceGetMcMoveStatus(int index, common::MC_QUATERNIONS *state_attribute);
-
-// imu 数据上报
-bool rcClientInterfaceGetImuData(common::MC_MOTION_IMU_DATA *imu_data);
-bool rcClientInterfaceGetImuStreamData(std::vector<common::MC_MOTION_IMU_DATA> *imu_data_list);
-
-// 坐下（默认）/起立
-bool rcClientInterfaceLieDownOrStandUp(robot_control::common::NAV_OR_JOY_MODE from,bool liedown_standup);
-// 使能
-bool rcClientInterfaceDriverEnable(robot_control::common::NAV_OR_JOY_MODE from, bool driver_enable);
-// 前进方向(前后左右)
-bool rcClientInterfaceDirectionMovement(robot_control::common::NAV_OR_JOY_MODE from,
-            common::ROBOT_TWIST rc_direct, int64_t time_millis);
-// 步态
-bool rcClientInterfaceSetGait(robot_control::common::NAV_OR_JOY_MODE from, common::ROBOT_GAIT gain);
-// 高度调节条
-bool rcClientInterfaceBodyHighAdjust(robot_control::common::NAV_OR_JOY_MODE from, int scale);
-// 速度调节条
-bool rcClientInterfaceSpeedAdjust(robot_control::common::NAV_OR_JOY_MODE from, int scale);
-// 场景设定
-bool rcClientInterfaceSetScene(robot_control::common::NAV_OR_JOY_MODE from, common::SCENE_TYPE scene);
-// 机器人一键自恢复
-bool rcClientInterfaceSelfRecovery(robot_control::common::NAV_OR_JOY_MODE from);
-// 力矩传感器清零
-bool rcClientInterfaceZeroTorqueSensor(robot_control::common::NAV_OR_JOY_MODE from);
-// 机器人常规状态信息
-bool rcClientInterfaceGetCommonStatus(common::ROBOT_COMMON_STATUS *com_state);
-// 机器人本体状态信息
-bool rcClientInterfaceGetJointsStatus(common::ROBOT_JOINTS_STATUS *state);
-// 机器人日志信息
-bool rcClientInterfaceLogUpdate(std::vector<std::string> &log_list);
-bool rcClientInterfaceSetJoyKeyValues(common::JOY_KEY_TYPE joy_key_attribute);
-// 遥控或手柄控制模式
-bool rcClientInterfaceDriverEstop(robot_control::common::NAV_OR_JOY_MODE from);
-// 遥控或手柄控制模式
-bool rcClientInterfaceResumeEstop(robot_control::common::NAV_OR_JOY_MODE from);
-// 软件急停
-bool rcClientInterfaceDriverSoftEstop(robot_control::common::NAV_OR_JOY_MODE from);
-// 恢复软件急停
-bool rcClientInterfacercResumeSoftEstop(robot_control::common::NAV_OR_JOY_MODE from);
-// 自动充电
-bool rcClientInterfaceSetAutoCharge(
-            robot_control::common::NAV_OR_JOY_MODE from,
-            common::AUTO_CHARGE_STATE charge_state);
-// 设置导航控制或者遥控控制
-bool rcClientInterfaceSetNavOrJoyControl(
-            common::NAV_OR_JOY_MODE nav_joy);
-// 设置机器人位姿
-bool rcClientInterfaceSetPoseEstimate(
-            robot_control::common::NAV_OR_JOY_MODE from,
-            common::ROBOT_POSE_ESTIMATE estimate);
-// 机器人充电识别二维码
-bool rcClientInterfaceIdentifyQRCode(robot_control::common::NAV_OR_JOY_MODE from);
-bool rcClientInterfaceEnterOrExitCharge(
-            robot_control::common::NAV_OR_JOY_MODE from,
-            bool driver_enable);
-bool rcClientInterfaceAutoRechargeCmd(
-            robot_control::common::NAV_OR_JOY_MODE from,
-            common::JETSON_CHARGE_COMMAND charge_command);
-bool rcClientInterfaceGetChargeState(common::JETSON_CHARGE_STATE *charge_state);
-bool rcClientInterfaceLightStripControl(
-            robot_control::common::NAV_OR_JOY_MODE from,
-            std::string port, EN_MICRO_EMOJI_CONTROL_CMD cmd,
-			int deviceAddr, int data);
-bool rcClientInterfaceSerialControl(
-            robot_control::common::NAV_OR_JOY_MODE from,
-            std::string port, std::string raw_data);
-bool rcClientInterfaceSetGuardian(
-			common::NAV_OR_JOY_MODE from,
-			float velocity_decay_ratio,
-			std::string trigger_source);
-bool rcClientInterfaceSetGuardianSwitch(
-            robot_control::common::NAV_OR_JOY_MODE from,
-            bool enable);
-bool rcClientInterfaceSetVisualFootholdSwitch(
-            robot_control::common::NAV_OR_JOY_MODE from,
-            bool enable);
-bool rcClientInterfaceSetVisualFootholdCommand(
-			common::JETSON_VISUAL_FOOTHOLD_COMMAND map);
-bool rcClientInterfaceGetVisualFootholdState(
-			common::JETSON_VISUAL_FOOTHOLD_STATE *foothold_state);
-bool rcClientInterfaceGetDepthImage(
-			common::DEPTH_IMAGE *depth_image);
-bool rcClientInterfaceGetRgbImage(
-			common::RGB_IMAGE *rgb_image);
-bool rcClientInterfaceGetMotionControllerTimestamp(unsigned long *timestamp);
-bool rcClientInterfaceSetNavigationPositioningState(
-			common::NAV_OR_JOY_MODE from,
-			bool enable);
-bool rcClientInterfaceSetNavigationInitialPos(
-			common::NAV_OR_JOY_MODE from,
-			bool enable);
-bool rcClientInterfaceSetTerrainSegDetectionResults(
-			common::NAV_OR_JOY_MODE from,
-			common::TERRAIN_SEG_DETECTION_RESULTS terrain);
-bool rcClientInterfaceSetTargetBodyOrientation(
-			common::NAV_OR_JOY_MODE from,
-			float roll, float pitch, float yaw);
-bool rcClientInterfaceSetEQAState(
-			common::NAV_OR_JOY_MODE from,
-			common::EQA_STATE eqa_state);
-bool rcClientInterfaceSetStairsHeigh(
-			common::NAV_OR_JOY_MODE from,
-			common::STAIRS_HEIGH_STATE stairs_heigh_value);
-bool rcClientInterfaceSetUWBFunctionSwitch(
-			common::NAV_OR_JOY_MODE from,
-			bool enable);
-bool rcClientInterfaceSetWeightLoadAdaptive(
-			common::NAV_OR_JOY_MODE from,
-			bool enable);
-////////////////////////////
-bool rcClientInterfaceGetLatestError(std::string* error_code);
-bool rcClientInterfaceGetHistoryError(int* error_count, std::vector<std::string>& error_codes);
-bool rcClientInterfaceGetNavigationPositioningState(bool* state);
-bool rcClientInterfaceGetNavigationInitialPos(bool* init);
-bool rcClientInterfaceGetEQAState(robot_control::common::EQA_STATE *eqa_state);
-bool rcClientInterfaceDemoControl(
-			common::NAV_OR_JOY_MODE from,
-			int mode,
-			bool enable);
-
-bool rcClientInterfaceSetJointsMode(int mode);
-bool rcClientInterfaceSetJointsPVQ(common::ROBOT_TARGET_VALUE value);
-bool rcClientInterfaceGetJointsPVQ(common::ROBOT_TARGET_VALUE *value);
-bool rcClientInterfaceDriverParameterSetting(
-            robot_control::common::NAV_OR_JOY_MODE from,
-            int motor_index, int which_core_of_driver,
-            DRIVER_PARAM_SETTING_CMD cmd);
-bool rcClientInterfaceSetFormOfMovement(int mode);
-bool rcClientInterfaceSelectSomeJoints(unsigned int mask);
-bool rcClientInterfaceSelectSingleJoint(int axis_index, bool be_selected);
-bool rcClientInterfaceClearDriverError(unsigned int mask);
-bool rcClientInterfaceSetMaxTorqueLimit(int axis_index, double max_torque);
-bool rcClientInterfaceReCalibrateAllDriverAndSave(bool is_rough);
-bool rcClientInterfaceSetJointTestParameter (common::JointTestData joint_test_data);
-bool rcClientInterfaceSineMoveJointTestSwitch (bool be_enable);
-bool rcClientInterfaceQuitJointTest ();
-bool rcClientInterfaceClearErrorHistory(common::NAV_OR_JOY_MODE from);
-bool rcClientInterfaceClearLatestHistory(common::NAV_OR_JOY_MODE from);
-
-// }
-#endif // MC_CLIENT_INTERFACE_H