set_payload with single cog argument not work (#46)

* fix: get_payload invalid object * feat: unify pause_task arguments * fix: bugfix and overload * fix:bugfix * fix:bugfix * fix:bugfix * doc: version update * fix:bugfix * fix: set_payload with cog not work * doc: update version --------- Co-authored-by: lebai <[email protected]>
lebai-robotics · May 17, 2023 · 373b15f · 373b15f
1 parent 8ee9bae
commit 373b15f
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Showing 8 changed files with 70 additions and 10 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -7,7 +7,8 @@ list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
 
 option(CMAKE_EXPORT_COMPILE_COMMANDS "Export compile command" TRUE)
 
-project(lebai VERSION 1.1.1 LANGUAGES CXX)
+
+project(lebai VERSION 1.1.2 LANGUAGES CXX)
 set(PROJECT_NAMESPACE lebai)
 message(STATUS "${PROJECT_NAME} version: ${PROJECT_VERSION}")
 # message(STATUS "major: ${PROJECT_VERSION_MAJOR}")

diff --git a/Doxyfile b/Doxyfile
@@ -38,7 +38,7 @@ PROJECT_NAME           = "lebai sdk"
 # could be handy for archiving the generated documentation or if some version
 # control system is used.
 
-PROJECT_NUMBER         = 1.1.1
+PROJECT_NUMBER         = 1.1.2
 
 # Using the PROJECT_BRIEF tag one can provide an optional one line description
 # for a project that appears at the top of each page and should give viewer a

diff --git a/sdk/include/lebai/robot.hh b/sdk/include/lebai/robot.hh
@@ -38,6 +38,7 @@ namespace lebai
    * 
    */
   using CartesianPose = std::map<std::string, double>;  
+  using DoubleVector = std::vector<double>;
   /**
    * @brief 运动学正解的返回值数据结构.
    * 
@@ -53,7 +54,7 @@ namespace lebai
    */
   struct KinematicsInverseResp
   {
-    std::vector<double> joint_positions;  /*!< 机械臂关节位置的map数据，应当包括'j1','j2','j3','j4','j5','j6'六个关节的角度值.  */
+    DoubleVector joint_positions;  /*!< 机械臂关节位置的map数据，应当包括'j1','j2','j3','j4','j5','j6'六个关节的角度值.  */
     bool ok = false;  /*!< 计算是否成功 */
   };  
 

diff --git a/sdk/src/protos/dynamic.cc b/sdk/src/protos/dynamic.cc
@@ -41,6 +41,45 @@ namespace lebai
         }
 
 
+        void SetCogRequest::set_cog(posture::Position cog)
+        {
+            cog_ = cog;
+        }
+        posture::Position SetCogRequest::cog() const
+        {
+            return cog_;
+        }
+        posture::Position *SetCogRequest::mutable_cog()
+        {
+            return &cog_;
+        }
+
+        bool SetCogRequest::Deserialize(const rapidjson::Value &obj)
+        {
+            if(obj.HasMember("cog"))
+            {
+                posture::Position cog;
+                cog.set_x(obj["cog"].GetObject()["x"].GetDouble());
+                cog.set_y(obj["cog"].GetObject()["y"].GetDouble());
+                cog.set_z(obj["cog"].GetObject()["z"].GetDouble());
+                cog_ = cog;
+            }
+            return true;
+        }
+        bool SetCogRequest::Serialize(rapidjson::Writer<rapidjson::StringBuffer> *writer) const
+        {
+            writer->StartObject();
+            writer->Key("cog");
+            cog_.Serialize(writer);
+            writer->EndObject();
+            return true;
+        }
+        bool SetCogRequest::IsNullJSONData() const
+        {
+            return false;
+        }
+
+
         void SetPayloadRequest::set_mass(double mass)
         {
             mass_ = mass;

diff --git a/sdk/src/protos/dynamic.hh b/sdk/src/protos/dynamic.hh
@@ -32,6 +32,23 @@ namespace lebai
             virtual bool IsNullJSONData() const;
         };
 
+        class SetCogRequest : public JSONBase
+        {
+        public:
+            void set_cog(posture::Position cog);
+            posture::Position cog() const;
+            posture::Position * mutable_cog();
+
+        protected:
+            posture::Position cog_;
+            // These methods are used to serialize and deserialize the class.
+            // They will not be wrapped in the SDK.
+        public:
+            virtual bool Deserialize(const rapidjson::Value &obj);
+            virtual bool Serialize(rapidjson::Writer<rapidjson::StringBuffer> *writer) const;
+            virtual bool IsNullJSONData() const;
+        };
+
         class SetMassRequest : public JSONBase
         {
         public:

diff --git a/sdk/src/robot.cc b/sdk/src/robot.cc
@@ -1328,10 +1328,12 @@ void Robot::set_payload(double mass)
 }
 void Robot::set_payload(std::map<std::string, double> cog)
 {
-  posture::Position req;
-  req.set_x(cog.at("x"));
-  req.set_y(cog.at("y"));
-  req.set_z(cog.at("z"));
+  dynamic::SetCogRequest req;
+  posture::Position c;
+  c.set_x(cog.at("x"));
+  c.set_y(cog.at("y"));
+  c.set_z(cog.at("z"));
+  req.set_cog(c);
   impl_->setPayload(req);
 }
 
@@ -1341,7 +1343,7 @@ std::map<std::string, double> Robot::get_payload()
   std::map<std::string,double> cog;
   cog["x"] = resp.cog().x();
   cog["y"] = resp.cog().y();
-  cog["Z"] = resp.cog().z();
+  cog["z"] = resp.cog().z();
   cog["mass"] = resp.mass();
   return cog;
 }

diff --git a/sdk/src/robot_impl.cc b/sdk/src/robot_impl.cc
@@ -495,7 +495,7 @@ namespace lebai
   {
     json_rpc_connector_->CallRpc("set_payload",req.ToJSONString(),nullptr);
   }
-  void Robot::RobotImpl::setPayload(const posture::Position &req)
+  void Robot::RobotImpl::setPayload(const dynamic::SetCogRequest &req)
   {
     json_rpc_connector_->CallRpc("set_payload",req.ToJSONString(),nullptr);
   }

diff --git a/sdk/src/robot_impl.hh b/sdk/src/robot_impl.hh
@@ -108,7 +108,7 @@ namespace lebai
       void unzip(const file::UnzipRequest & req);
       file::LoadZipListResponse loadZipList(const file::LoadZipListRequest & req);
       void setPayload(const dynamic::SetPayloadRequest & req);
-      void setPayload(const posture::Position & req);
+      void setPayload(const dynamic::SetCogRequest & req);
       void setPayload(const dynamic::SetMassRequest & req);
       dynamic::Payload getPayload();
       void setGravity(const posture::Position & req);