安全策略移至cpp

fast_lowcmd_cpp/fast_lowcmd.py

@@ -6,6 +6,7 @@ the byte-equivalence and timing tests are stable on the robot board.
 from pathlib import Path
 
 from go1_fast_lowcmd import FastLowCmdBuilder as _NativeFastLowCmdBuilder
+from go1_pro_sdk import PowerProtectViolation
 
 
 def default_state_path() -> str:
@@ -33,6 +34,23 @@ class FastLowCmdBuilder:
     def build_encrypted_servo12(self, q, dq=None, tau=None, kp=None, kd=None):
         return self._native.build_encrypted_servo12(q, dq=dq, tau=tau, kp=kp, kd=kd)
 
+    def build_encrypted_servo12_checked(
+            self, q, kp, kd, actual_q=None, actual_tau=None, position_protect_limit=0.0):
+        try:
+            return self._native.build_encrypted_servo12_checked(
+                q,
+                kp,
+                kd,
+                actual_q=actual_q,
+                actual_tau=actual_tau,
+                position_protect_limit=position_protect_limit,
+            )
+        except RuntimeError as exc:
+            message = str(exc)
+            if message.startswith("power protect: "):
+                raise PowerProtectViolation(message[len("power protect: "):]) from exc
+            raise
+
     def build_plain_fields20(self, mode=None, q=None, dq=None, tau=None, kp=None, kd=None):
         return self._native.build_plain_fields20(mode=mode, q=q, dq=dq, tau=tau, kp=kp, kd=kd)