From b70ae1ec0b0f4a48c93d8d17f16b434036aaa2b1 Mon Sep 17 00:00:00 2001
From: Cosmoslip <37982167+Cosmoflips@users.noreply.github.com>
Date: Fri, 14 Apr 2023 16:57:26 +0800
Subject: [PATCH] feat: is_down (#35)

---
 sdk/include/lebai/robot.hh | 6 ++++++
 sdk/src/robot.cc           | 5 +++++
 2 files changed, 11 insertions(+)

diff --git a/sdk/include/lebai/robot.hh b/sdk/include/lebai/robot.hh
index 32da580..b068e5f 100644
--- a/sdk/include/lebai/robot.hh
+++ b/sdk/include/lebai/robot.hh
@@ -407,6 +407,12 @@ namespace lebai
      * @return 是否已断开连接
      */
     bool is_disconnected();
+    /**
+     * @brief 手臂是否已下电
+     *
+     * @return 是否已下电
+     */
+    bool is_down();
     /**
      * @brief 获取机械臂关节当前反馈位置 
      * 
diff --git a/sdk/src/robot.cc b/sdk/src/robot.cc
index 4c45e17..4ed9313 100644
--- a/sdk/src/robot.cc
+++ b/sdk/src/robot.cc
@@ -454,6 +454,11 @@ bool Robot::is_disconnected()
  return impl_->getRobotState() == 0;
 }
 
+bool Robot::is_down()
+{
+ return impl_->getRobotState() < 4;
+}
+
 std::vector<double> Robot::get_actual_joint_positions()
 {
   std::map<std::string, double> ret;