feat:Dio and Hook (#32)

* fix:bugfix * fix:bugfix * Update build.yml * Update build.yml * Update build.yml * Update build.yml * Update build.yml * Update build.yml * Update build.yml * Update build.yml * Update build.yml * Update build.yml * update ci * feat:Dio features for arm * fix:bugfix * fix:bugfix * fix:bugfix * fix:bugfix * fix:bugfix * add python-setup in windows_python_build * merge master from liufang-robot:master * Update windows_python_build.yml * Update windows_python_build.yml * Update windows_python_build.yml * Update windows_python_build.yml * fix:aach64 cpp build * Update linux_aarch64_cpp_build.yml * Update linux_aarch64_cpp_build.yml * Update linux_aarch64_cpp_build.yml * Update linux_aarch64_cpp_build.yml * Update linux_aarch64_cpp_build.yml * Delete linux_aarch64_cpp_build.yml * Update linux_python_build.yml * Update linux_python_build.yml * fix:Cartesian rx rz wrong swap * fix:bugfix * chore:dio fields change * Update linux_python_build.yml [skip ci] * fix:bugfix * fix:bugfix * fix:bugfix * feat:hook exec * fix:bugfix * fix:get_task_state undefine * Update robot.cc * Update robot.hh * Update CMakeLists.txt * Update Doxyfile --------- Co-authored-by: liufang <liufang_robot@outlook.com>
lebai-robotics · Mar 2, 2023 · 39eb1d6 · 39eb1d6
1 parent 36b2170
commit 39eb1d6
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Showing 12 changed files with 353 additions and 198 deletions.
diff --git a/.github/workflows/linux_python_build.yml b/.github/workflows/linux_python_build.yml
@@ -3,6 +3,9 @@ run-name: ${{ github.actor }} Linux python build
 on: 
   workflow_dispatch: 
   pull_request: 
+  push: 
+    branches: 
+      - master
 jobs: 
   linux_python_build: 
     runs-on: ubuntu-latest

diff --git a/.github/workflows/windows_python_build.yml b/.github/workflows/windows_python_build.yml
@@ -21,7 +21,14 @@ jobs:
           python-version: '3.10'
       - name: Check cmake
         run: cmake --version
+      - run: pip install python-dev-tools
+#      - uses: msys2/setup-msys2@v2
+#        with:
+#          update: true
+#          install: >-
+#            base-devel
+#            mingw-w64-x86_64-python3
       - name: Configure
         run: cmake -S. -Bbuild -G "Visual Studio 17 2022" -DBUILD_PYTHON=ON -DBUILD_DOCUMENTATION=OFF
       - name: Build
-        run: cmake --build build
+        run: cmake --build build
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 1.0.17 LANGUAGES CXX)
+project(lebai VERSION 1.0.18 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         = 1.0.17
+PROJECT_NUMBER         = 1.0.18
 
 # 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
@@ -401,6 +401,12 @@ namespace lebai
      * @note 查看 <a href="https://help.lebai.ltd/guide/basic.html#%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%8A%B6%E6%80%81">具体信息</a>.
      */
     int get_robot_mode();
+    /**
+     * @brief 是否已与手臂断开连接
+     *
+     * @return 是否已断开连接
+     */
+    bool is_disconnected();
     /**
      * @brief 获取机械臂关节当前反馈位置 
      * 
@@ -550,34 +556,20 @@ namespace lebai
      * @return 返回多个模拟输入数值
      */
     std::vector<double> get_ais(std::string device, unsigned int pin, unsigned int num);
-    /**
-     * @brief 设置数字端口输出值
-     * @param pin: 端口号，从 0 开始
-     * @param value: 待设置的模拟输出值
-     * @return 若设置成功为true,若当前此端口为输入模式则为false
-     */
-    bool set_dio(unsigned int pin, bool value);
     /**
      * @brief 设置数字端口模式
      * @param pin 端口号，从 0 开始
      * @param value 设置的值，false为输入模式，true为输出模式
      * @return 返回是否成功
      */
-    bool set_dio_mode(unsigned int pin, bool value);
-    /**
-     * @brief 获取数字端口输出值
-     * @param pin: 端口号，从 0 开始
-     * @param count: 查询的连续端口数
-     * @return 从pin开始的连续count个端口的当前值
-     */
-    std::vector<bool> get_dios(unsigned int pin, unsigned int count);
+    void set_dio_mode(std::string device,unsigned int pin, bool value);
     /**
      * @brief 获取数字端口模式
      * @param pin 端口号，从 0 开始
      * @param count 查询的连续端口数
      * @return 从pin开始的连续count个端口的当前模式
      */
-    std::vector<bool> get_dios_mode(unsigned int pin, unsigned int count);
+    std::vector<bool> get_dios_mode(std::string device,unsigned int pin, unsigned int count);
     /** @}*/
 
 
@@ -707,6 +699,16 @@ namespace lebai
      * @param id 任务的ID.
     */
     void cancel_task(unsigned int id);
+    /**
+     * @brief 根据已设置的Hook执行对应场景
+     *
+     * @param id 任务的ID.
+     */
+    unsigned int exec_hook(unsigned int id);
+    /**
+     * @brief 获取任务状态.
+    */
+    std::string get_task_state();
     /**
      * @brief 获取任务状态.
      * 

diff --git a/sdk/src/protos/control.cc b/sdk/src/protos/control.cc
@@ -665,5 +665,90 @@ namespace lebai
         {
             return false;
         }
+
+        void Exec::set_id(unsigned int id)
+        {
+            id_ = id;
+        }
+        unsigned int Exec::id()
+        {
+            return id_;
+        }
+        unsigned int *Exec::mutable_id()
+        {
+            return &id_;
+        }
+        bool Exec::Deserialize(const rapidjson::Value &obj)
+        {
+            if(obj.HasMember("id"))
+            {
+                id_ = (unsigned int)(obj["id"].GetUint());
+            }
+            return true;
+        }
+        bool Exec::Serialize(rapidjson::Writer<rapidjson::StringBuffer> *writer) const
+        {
+            writer->StartObject();
+            writer->Key("id");
+            writer->Uint(id_);
+            writer->EndObject();
+            return true;
+        }
+        bool Exec::IsNullJSONData() const
+        {
+            return false;
+        }
+
+        void HookResponse::set_success(unsigned int success)
+        {
+            success_ = success;
+        }
+        unsigned int HookResponse::success()
+        {
+            return success_;
+        }
+        unsigned int *HookResponse::mutable_success()
+        {
+            return &success_;
+        }
+
+        void HookResponse::set_error(std::string error)
+        {
+            error_ = error;
+        }
+        std::string HookResponse::error()
+        {
+            return error_;
+        }
+        std::string *HookResponse::mutable_error()
+        {
+            return &error_;
+        }
+        bool HookResponse::Deserialize(const rapidjson::Value &obj)
+        {
+            if(obj.HasMember("success"))
+            {
+                success_ = bool(obj["success"].GetBool());
+            }
+            if(obj.HasMember("error"))
+            {
+                error_ = (std::string)(obj["error"].GetString());
+            }
+            return true;
+        }
+        bool HookResponse::Serialize(rapidjson::Writer<rapidjson::StringBuffer> *writer) const
+        {
+            writer->StartObject();
+            writer->Key("success");
+            writer->Bool(success_);
+            writer->Key("error");
+            writer->String(error_.c_str());
+            writer->EndObject();
+            return true;
+        }
+        bool HookResponse::IsNullJSONData() const
+        {
+            return false;
+        }
     }
 }
diff --git a/sdk/src/protos/control.hh b/sdk/src/protos/control.hh
@@ -211,5 +211,40 @@ namespace lebai
 			virtual bool Serialize(rapidjson::Writer<rapidjson::StringBuffer> *writer) const;
 			virtual bool IsNullJSONData() const;
         };
+
+        class Exec : public JSONBase
+        {
+        public:
+            void set_id(unsigned int id);
+            unsigned int id();
+            unsigned int * mutable_id();
+
+        protected:
+            unsigned int id_;
+        public:
+            virtual bool Deserialize(const rapidjson::Value &obj);
+			virtual bool Serialize(rapidjson::Writer<rapidjson::StringBuffer> *writer) const;
+			virtual bool IsNullJSONData() const;
+        };
+
+        class HookResponse : public JSONBase
+        {
+        public:
+            void set_success(unsigned int success);
+            unsigned int success();
+            unsigned int * mutable_success();
+
+            void set_error(std::string error);
+            std::string error();
+            std::string * mutable_error();
+
+        protected:
+            unsigned int success_;
+            std::string error_;
+        public:
+            virtual bool Deserialize(const rapidjson::Value &obj);
+			virtual bool Serialize(rapidjson::Writer<rapidjson::StringBuffer> *writer) const;
+			virtual bool IsNullJSONData() const;
+        };
     }
 }
diff --git a/sdk/src/protos/io.cc b/sdk/src/protos/io.cc
@@ -827,6 +827,19 @@ namespace lebai
       return false;
     }
 
+    void SetDioModeRequest::set_device(IoDevice device)
+    {
+      device_ = device;
+    }
+    IoDevice SetDioModeRequest::device()
+    {
+      return device_;
+    }
+    IoDevice* SetDioModeRequest::mutable_device()
+    {
+      return &device_;
+    }
+
     void SetDioModeRequest::set_pin(unsigned int pin)
     {
       pin_ = pin;
@@ -855,6 +868,22 @@ namespace lebai
 
     bool SetDioModeRequest::Deserialize(const rapidjson::Value &obj)
     {
+      if(obj.HasMember("device"))
+      {
+        std::string device_str = std::string(obj["device"].GetString());
+        if(device_str == "ROBOT")
+        {
+          device_ = ROBOT;
+        }
+        else if(device_str == "FLANGE")
+        {
+          device_ = FLANGE;
+        }
+        else if(device_str == "EXTRA")
+        {
+          device_ = EXTRA;
+        }
+      }
       if(obj.HasMember("pin"))
       {
         pin_ = obj["pin"].GetUint();
@@ -868,6 +897,8 @@ namespace lebai
     bool SetDioModeRequest::Serialize(rapidjson::Writer<rapidjson::StringBuffer> *writer) const
     {
       writer->StartObject();
+      writer->Key("device");
+      writer->Int(device_);
       writer->Key("pin");
       writer->Uint(pin_);
       writer->Key("value");
@@ -913,6 +944,18 @@ namespace lebai
       return false;
     }
 
+    void SetDioRequest::set_device(IoDevice device)
+    {
+      device_ = device;
+    }
+    IoDevice SetDioRequest::device()
+    {
+      return device_;
+    }
+    IoDevice* SetDioRequest::mutable_device()
+    {
+      return &device_;
+    }
     void SetDioRequest::set_pin(unsigned int pin)
     {
       pin_ = pin;
@@ -941,6 +984,22 @@ namespace lebai
 
     bool SetDioRequest::Deserialize(const rapidjson::Value &obj)
     {
+      if(obj.HasMember("device"))
+      {
+        std::string device_str = std::string(obj["device"].GetString());
+        if(device_str == "ROBOT")
+        {
+          device_ = ROBOT;
+        }
+        else if(device_str == "FLANGE")
+        {
+          device_ = FLANGE;
+        }
+        else if(device_str == "EXTRA")
+        {
+          device_ = EXTRA;
+        }
+      }
       if(obj.HasMember("pin"))
       {
         pin_ = obj["pin"].GetUint();
@@ -954,6 +1013,8 @@ namespace lebai
     bool SetDioRequest::Serialize(rapidjson::Writer<rapidjson::StringBuffer> *writer) const
     {
       writer->StartObject();
+      writer->Key("device");
+      writer->Int(device_);
       writer->Key("pin");
       writer->Uint(pin_);
       writer->Key("value");
@@ -1095,6 +1156,18 @@ namespace lebai
       return false;
     }
 
+    void GetDiosModeRequest::set_device(IoDevice device)
+    {
+      device_ = device;
+    }
+    IoDevice GetDiosModeRequest::device()
+    {
+      return device_;
+    }
+    IoDevice* GetDiosModeRequest::mutable_device()
+    {
+      return &device_;
+    }
     void GetDiosModeRequest::set_pin(unsigned int pin)
     {
       pin_ = pin;
@@ -1123,6 +1196,22 @@ namespace lebai
 
     bool GetDiosModeRequest::Deserialize(const rapidjson::Value &obj)
     {
+      if(obj.HasMember("device"))
+      {
+        std::string device_str = std::string(obj["device"].GetString());
+        if(device_str == "ROBOT")
+        {
+          device_ = ROBOT;
+        }
+        else if(device_str == "FLANGE")
+        {
+          device_ = FLANGE;
+        }
+        else if(device_str == "EXTRA")
+        {
+          device_ = EXTRA;
+        }
+      }
       if(obj.HasMember("pin"))
       {
         pin_ = obj["pin"].GetUint();
@@ -1136,6 +1225,8 @@ namespace lebai
     bool GetDiosModeRequest::Serialize(rapidjson::Writer<rapidjson::StringBuffer> *writer) const
     {
       writer->StartObject();
+      writer->Key("device");
+      writer->Int(device_);
       writer->Key("pin");
       writer->Uint(pin_);
       writer->Key("count");