From 1987b38959660b92e488268f66f84b01f070a7ba Mon Sep 17 00:00:00 2001
From: rise0chen <rise0chen@163.com>
Date: Wed, 7 Jun 2023 07:21:41 +0000
Subject: [PATCH] feat: pose_add

---
 src/lib.rs         |  4 ++--
 src/rpc/posture.rs | 14 +++++++-------
 2 files changed, 9 insertions(+), 9 deletions(-)

diff --git a/src/lib.rs b/src/lib.rs
index cb9476f..12a2f17 100644
--- a/src/lib.rs
+++ b/src/lib.rs
@@ -93,8 +93,8 @@ pub mod lebai_sdk {
         }
         #[classmethod]
         #[cmod::tags(args(pose, frame, delta), ret)]
-        pub async fn pose_add(&self, pose: Pose, frame: CartesianPose, delta: CartesianPose) -> Result<CartesianPose> {
-            self.0.pose_add(pose, frame, delta).await
+        pub async fn pose_add(&self, pose: Pose, delta: CartesianPose, frame: Option<CartesianPose>) -> Result<CartesianPose> {
+            self.0.pose_add(pose, delta, frame).await
         }
         #[classmethod]
         #[cmod::tags(args(p), ret)]
diff --git a/src/rpc/posture.rs b/src/rpc/posture.rs
index 9fe08cb..f907a1c 100644
--- a/src/rpc/posture.rs
+++ b/src/rpc/posture.rs
@@ -1,7 +1,7 @@
 use super::Robot;
 use cmod::Result;
 use proto::lebai::db::*;
-use proto::lebai::posture::*;
+use proto::lebai::posture::{self, *};
 use proto::posture::{CartesianPose, JointPose, Pose};
 
 impl Robot {
@@ -26,15 +26,15 @@ impl Robot {
         let pose = self.c.get_pose_trans(Some(req)).await.map_err(|e| e.to_string())?;
         Ok(pose.into())
     }
-    pub async fn pose_add(&self, pose: Pose, frame: CartesianPose, delta: CartesianPose) -> Result<CartesianPose> {
-        let delta = Pose::Cart(delta).into();
-        let mut req = GetPoseAddRequest {
+    pub async fn pose_add(&self, pose: Pose, delta: CartesianPose, frame: Option<CartesianPose>) -> Result<CartesianPose> {
+        let mut delta: posture::Pose = Pose::Cart(delta).into();
+        if let Some(frame) = frame {
+            delta.cart_frame = Some(frame.into());
+        }
+        let req = GetPoseAddRequest {
             pose: Some(pose.into()),
             delta: Some(delta),
         };
-        if let Some(delta) = &mut req.delta {
-            delta.cart_frame = Some(frame.into());
-        }
         let pose = self.c.get_pose_add(Some(req)).await.map_err(|e| e.to_string())?;
         Ok(pose.into())
     }