cpp对齐官方

include/unitree_legged_sdk/udp.h

@@ -0,0 +1,62 @@
+#ifndef GO1_PRO_UNITREE_LEGGED_UDP_H_
+#define GO1_PRO_UNITREE_LEGGED_UDP_H_
+
+#include "comm.h"
+#include "unitree_legged_sdk/quadruped.h"
+#include <cstdint>
+
+namespace UNITREE_LEGGED_SDK {
+
+constexpr int UDP_CLIENT_PORT = 8080;
+constexpr int UDP_SERVER_PORT = 8007;
+constexpr char UDP_SERVER_IP_BASIC[] = "192.168.123.10";
+constexpr char UDP_SERVER_IP_SPORT[] = "192.168.123.161";
+
+enum RecvEnum { nonBlock = 0x00, block = 0x01, blockTimeout = 0x02 };
+
+class UDP {
+ public:
+  UDP(uint8_t level, uint16_t localPort, const char* targetIP, uint16_t targetPort);
+  UDP(uint16_t localPort, const char* targetIP, uint16_t targetPort,
+      int sendLength, int recvLength, bool initiativeDisconnect = false,
+      RecvEnum recvType = RecvEnum::nonBlock);
+  UDP(uint16_t localPort, int sendLength, int recvLength,
+      bool initiativeDisconnect = false, RecvEnum recvType = RecvEnum::nonBlock,
+      bool setIpPort = false);
+  ~UDP();
+
+  UDP(const UDP&) = delete;
+  UDP& operator=(const UDP&) = delete;
+
+  void SetIpPort(const char* targetIP, uint16_t targetPort);
+  void SetRecvTimeout(int time);
+  void SetDisconnectTime(float callback_dt, float disconnectTime);
+  void SetAccessibleTime(float callback_dt, float accessibleTime);
+
+  int Send();
+  int Recv();
+
+  void InitCmdData(HighCmd& cmd);
+  void InitCmdData(LowCmd& cmd);
+  int SetSend(char* data);
+  int SetSend(HighCmd& cmd);
+  int SetSend(LowCmd& cmd);
+  void GetRecv(char* data);
+  void GetRecv(HighState& state);
+  void GetRecv(LowState& state);
+
+  UDPState udpState;
+  char* targetIP;
+  uint16_t targetPort;
+  char* localIP;
+  uint16_t localPort;
+  bool accessible = false;
+
+ private:
+  struct Impl;
+  Impl* impl_;
+};
+
+}  // namespace UNITREE_LEGGED_SDK
+
+#endif