interface optimization and rpc unify (#45)

* 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 --------- Co-authored-by: lebai <[email protected]>
lebai-robotics · May 17, 2023 · 48ce7b3 · 48ce7b3
1 parent 028c2de
commit 48ce7b3
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diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -7,7 +7,7 @@ list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
 
 option(CMAKE_EXPORT_COMPILE_COMMANDS "Export compile command" TRUE)
 
-project(lebai VERSION 1.1.0 LANGUAGES CXX)
+project(lebai VERSION 1.1.1 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         = 1.1.0
+PROJECT_NUMBER         = 1.1.1
 
 # 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
@@ -693,16 +693,7 @@ namespace lebai
       * @param dir: 调用场景所在的文件夹名
       * @param params: 其他参数
     */
-    unsigned int start_task(const std::string &name,bool is_main,unsigned int loop_to,const std::string &dir,const std::vector<std::string> & params);
-    /**
-      * @brief 调用场景
-      * 
-      * @param name: 调用场景的名字
-      * @param is_main: 是否以主任务方式运行（主任务会排队执行，子任务会并发执行）
-      * @param loop_to: 循环次数（默认0永久循环）
-      * @param dir: 调用场景所在的文件夹名
-    */
-    unsigned int start_task(const std::string &name,bool is_main,unsigned int loop_to,const std::string &dir);
+    unsigned int start_task(const std::string &name,const std::vector<std::string> & params,const std::string & dir, bool is_parallel,unsigned int loop_to);
     /**
       * @brief 调用场景
       * 
@@ -721,6 +712,7 @@ namespace lebai
      * @param wait: 是否等待
     */
     void pause_task(unsigned int id,unsigned long time,bool wait);
+    void pause_task(unsigned int id);
     /**
      * @brief 恢复任务与运动
      * 
@@ -896,12 +888,25 @@ namespace lebai
      *  @param cog 质心相对于TCP坐标系的偏移.
      */
     void set_payload(double mass, std::map<std::string, double> cog);
+    /**
+     *  @brief 设置机器人末端负载.
+     *
+     *  @param mass 末端负载的质量(kg).
+     */
+    void set_payload(double mass);
+    /**
+     *  @brief 设置机器人末端负载.
+     *
+     *  @param mass 末端负载的质量(kg).
+     *  @param cog 质心相对于TCP坐标系的偏移.
+     */
+    void set_payload(std::map<std::string, double> cog);
     /**
      *  @brief 获取末端负载设置.
      *
      *  @return 由负载质量mass和负载偏移组成的元组.
      */
-    std::tuple<double, std::map<std::string, double>> get_payload();
+    std::map<std::string, double> get_payload();
     /**
      *  @brief 设置机器人重力加速度方向.
      *

diff --git a/sdk/python/jsonbase.i b/sdk/python/jsonbase.i
@@ -84,7 +84,7 @@
 %template(StrVector) std::vector<std::string>;
 %template(IntVector) std::vector<int>;
 %template(BVector) std::vector<bool>;
-// %template(DoubleVector) std::vector<double>;
+%template(DoubleVector) std::vector<double>;
 %template(BSVector) std::vector<std::tuple<bool,std::string>>;
 %std_tuple(TupleDDB, double, double, bool);
 %std_tuple(TupleIntStr, int, std::string);

diff --git a/sdk/src/protos/control.cc b/sdk/src/protos/control.cc
@@ -198,7 +198,7 @@ namespace lebai
 		bool TaskIndex::Serialize(rapidjson::Writer<rapidjson::StringBuffer> *writer) const
         {
             writer->StartObject();
-            writer->Key("ids");
+            writer->Key("id");
             writer->Uint(id_);
             writer->EndObject();
             return true;

diff --git a/sdk/src/protos/dynamic.cc b/sdk/src/protos/dynamic.cc
@@ -6,6 +6,41 @@ namespace lebai
 {
     namespace dynamic
     {
+        void SetMassRequest::set_mass(double mass)
+        {
+            mass_ = mass;
+        }
+        double SetMassRequest::mass() const
+        {
+            return mass_;
+        }
+        double *SetMassRequest::mutable_mass()
+        {
+            return &mass_;
+        }
+        bool SetMassRequest::Deserialize(const rapidjson::Value &obj)
+        {
+            if(obj.HasMember("mass"))
+            {
+                double mass = (double)(obj["mass"].GetDouble());
+                mass_ = mass;
+            }
+            return true;
+        }
+        bool SetMassRequest::Serialize(rapidjson::Writer<rapidjson::StringBuffer> *writer) const
+        {
+            writer->StartObject();
+            writer->Key("mass");
+            writer->Double(mass_);
+            writer->EndObject();
+            return true;
+        }
+        bool SetMassRequest::IsNullJSONData() const
+        {
+            return false;
+        }
+
+
         void SetPayloadRequest::set_mass(double mass)
         {
             mass_ = mass;
@@ -19,15 +54,15 @@ namespace lebai
             return &mass_;
         }
 
-        void SetPayloadRequest::set_cog(std::vector<double> cog)
+        void SetPayloadRequest::set_cog(posture::Position cog)
         {
             cog_ = cog;
         }
-        std::vector<double> SetPayloadRequest::cog() const
+        posture::Position SetPayloadRequest::cog() const
         {
             return cog_;
         }
-        std::vector<double> *SetPayloadRequest::mutable_cog()
+        posture::Position *SetPayloadRequest::mutable_cog()
         {
             return &cog_;
         }
@@ -41,11 +76,10 @@ namespace lebai
             }
             if(obj.HasMember("cog"))
             {
-                std::vector<double> cog;
-                for(auto c = obj["cog"].GetArray().Begin();c != obj["cog"].GetArray().End();c++)
-                {
-                    cog.push_back(c->GetDouble());
-                }
+                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;
@@ -56,19 +90,16 @@ namespace lebai
             writer->Key("mass");
             writer->Double(mass_);
             writer->Key("cog");
-            writer->StartArray();
-            for(auto c:cog_)
-            {
-                writer->Double(c);
-            }
-            writer->EndArray();
+            cog_.Serialize(writer);
             writer->EndObject();
             return true;
         }
         bool SetPayloadRequest::IsNullJSONData() const
         {
             return false;
         }
+
+
         void Payload::set_mass(double mass)
         {
             mass_ = mass;
@@ -82,15 +113,15 @@ namespace lebai
             return &mass_;
         }
 
-        void Payload::set_cog(std::vector<double> cog)
+        void Payload::set_cog(posture::Position cog)
         {
             cog_ = cog;
         }
-        std::vector<double> Payload::cog() const
+        posture::Position Payload::cog() const
         {
             return cog_;
         }
-        std::vector<double> *Payload::mutable_cog()
+        posture::Position *Payload::mutable_cog()
         {
             return &cog_;
         }
@@ -104,11 +135,10 @@ namespace lebai
             }
             if(obj.HasMember("cog"))
             {
-                std::vector<double> cog;
-                for(auto c = obj["cog"].GetArray().Begin();c != obj["cog"].GetArray().End();c++)
-                {
-                    cog.push_back(c->GetDouble());
-                }
+                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;
@@ -119,12 +149,7 @@ namespace lebai
             writer->Key("mass");
             writer->Double(mass_);
             writer->Key("cog");
-            writer->StartArray();
-            for(auto c:cog_)
-            {
-                writer->Double(c);
-            }
-            writer->EndArray();
+            cog_.Serialize(writer);
             writer->EndObject();
             return true;
         }

diff --git a/sdk/src/protos/dynamic.hh b/sdk/src/protos/dynamic.hh
@@ -4,6 +4,7 @@
 #include <vector>
 #include <memory>
 #include <string>
+#include "posture.hh"
 
 namespace lebai
 {
@@ -16,13 +17,30 @@ namespace lebai
             double mass() const;
             double *mutable_mass();
 
-            void set_cog(std::vector<double> cog);
-            std::vector<double> cog() const;
-            std::vector<double> * mutable_cog();
+            void set_cog(posture::Position cog);
+            posture::Position cog() const;
+            posture::Position * mutable_cog();
+
+        protected:
+            double mass_;
+            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:
+            void set_mass(double mass);
+            double mass() const;
+            double *mutable_mass();
 
         protected:
             double mass_;
-            std::vector<double> cog_;
             // These methods are used to serialize and deserialize the class.
             // They will not be wrapped in the SDK.
         public:
@@ -38,13 +56,13 @@ namespace lebai
             double mass() const;
             double *mutable_mass();
 
-            void set_cog(std::vector<double> cog);
-            std::vector<double>  cog() const;
-            std::vector<double> * mutable_cog();
+            void set_cog(posture::Position cog);
+            posture::Position cog() const;
+            posture::Position * mutable_cog();
 
         protected:
             double mass_;
-            std::vector<double> cog_;
+            posture::Position cog_;
             // These methods are used to serialize and deserialize the class.
             // They will not be wrapped in the SDK.
         public:

diff --git a/sdk/src/robot.cc b/sdk/src/robot.cc
@@ -921,7 +921,7 @@ void Robot::add_signal(unsigned int index,int value)
   impl_->addSignal(req);
 }
 
-unsigned int Robot::start_task(const std::string &name,bool is_parallel,unsigned int loop_to,const std::string & dir,const std::vector<std::string> & params)
+unsigned int Robot::start_task(const std::string &name,const std::vector<std::string> & params,const std::string & dir, bool is_parallel,unsigned int loop_to)
 {
   control::StartTaskRequest req;
   req.set_name(name);
@@ -932,16 +932,6 @@ unsigned int Robot::start_task(const std::string &name,bool is_parallel,unsigned
   control::TaskIndex resp = impl_->scene(req);
   return resp.id();
 }
-unsigned int Robot::start_task(const std::string &name,bool is_parallel,unsigned int loop_to,const std::string & dir)
-{
-  control::StartTaskRequest req;
-  req.set_name(name);
-  req.set_is_parallel(is_parallel);
-  req.set_loop_to(loop_to);
-  req.set_dir(dir);
-  control::TaskIndex resp = impl_->scene(req);
-  return resp.id();
-}
 unsigned int Robot::start_task(const std::string &name)
 {
   control::StartTaskRequest req;
@@ -956,6 +946,14 @@ std::vector<unsigned int> Robot::load_task_list()
   control::TaskIds resp = impl_->loadTaskList();
   return resp.ids();
 }
+void Robot::pause_task(unsigned int id)
+{
+  control::PauseRequest req;
+  req.set_id(id);
+  req.set_time(0);
+  req.set_wait(false);
+  impl_->pauseTask(req);
+}
 void Robot::pause_task(unsigned int id,unsigned long time,bool wait)
 {
   control::PauseRequest req;
@@ -1315,23 +1313,37 @@ void Robot::set_payload(double mass, std::map<std::string, double> cog)
 {
   dynamic::SetPayloadRequest req;
   req.set_mass(mass);
-  std::vector<double> c;
-  c.push_back(cog.at("x"));
-  c.push_back(cog.at("y"));
-  c.push_back(cog.at("z"));
+  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);
 }
+void Robot::set_payload(double mass)
+{
+  dynamic::SetMassRequest req;
+  req.set_mass(mass);
+  impl_->setPayload(req);
+}
+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"));
+  impl_->setPayload(req);
+}
 
-std::tuple<double, std::map<std::string, double>> Robot::get_payload()
+std::map<std::string, double> Robot::get_payload()
 {
   dynamic::Payload resp = impl_->getPayload();
   std::map<std::string,double> cog;
-  cog["x"] = resp.cog()[0];
-  cog["y"] = resp.cog()[1];
-  cog["Z"] = resp.cog()[2];
-  std::tuple<double, std::map<std::string, double>> ret = std::make_tuple(resp.mass(),cog);
-  return ret;
+  cog["x"] = resp.cog().x();
+  cog["y"] = resp.cog().y();
+  cog["Z"] = resp.cog().z();
+  cog["mass"] = resp.mass();
+  return cog;
 }
 
 void Robot::set_gravity(std::map<std::string,double> gravity)