saturn_ros2/saturn_controller/sdk/include/mc_client_interface.h

#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