airbot_sdk.hpp

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#ifndef AIRBOT_SDK_HPP_
#define AIRBOT_SDK_HPP_
 
#include <spdlog/sinks/stdout_color_sinks.h>
#include <spdlog/spdlog.h>
 
#include <array>
#include <future>
#include <memory>
#include <string>
#include <variant>
#include <vector>
 
#include "driver_state.hpp"
#include "robot_mode.hpp"
#include "speed_profile.hpp"
 
namespace airbot {
 
// Forward declaration of AirbotArm class
class AirbotArm;
 
class AirbotSdk {
 public:
  AirbotSdk(const std::string& url = "localhost", const unsigned int port = 50051);
 
  const std::shared_ptr<spdlog::logger> GetLogger() const;
 
  bool IsRunning() const;
 
  bool Connect() const;
 
  bool Disconnect();
 
  std::vector<std::pair<std::string, std::vector<std::string>>> GetProductInfo() const;
 
  State GetState() const;
 
  RobotMode GetControlMode() const;
 
  //   /**
  //    * @brief Retrieves the modes available for each robot component.
  //    * @return A pair containing two vectors: one with component names and one with their corresponding modes.
  //    *
  //    * Retrieves the available control modes for each component of the robotic arm.
  //    */
  //   std::pair<std::vector<std::string>, std::vector<RobotMode>> GetMode() const;
 
  std::vector<std::pair<std::string, std::variant<int32_t, double, std::string, bool>>> GetParams(
      std::vector<std::string> names) const;
 
  std::pair<std::array<double, 3>, std::array<double, 4>> GetEndPose() const;
 
  std::array<double, 6> GetJointPos() const;
 
  std::array<double, 6> GetJointVel() const;
 
  std::array<double, 6> GetJointEff() const;
 
  std::vector<double> GetEefPos() const;
 
  std::vector<double> GetEefVel() const;
 
  std::vector<double> GetEefEff() const;
 
  bool SetParams(
      const std::vector<std::pair<std::string, std::variant<int32_t, double, std::string, bool>>>& params) const;
 
  bool SetSpeedProfile(const SpeedProfile& profile) const;
 
  bool SwitchMode(const RobotMode& mode) const;
 
  bool SwitchMode(const std::vector<std::string>& component_names, const std::vector<RobotMode>& modes) const;
 
  bool LoadApp(const std::string& name = "record_replay_app/record_replay_app::RecordReplayApp",
               const std::vector<std::pair<std::string, std::string>>& params = {}) const;
 
  bool UnloadApp() const;
 
  bool MoveToJointPos(const std::array<double, 6>& joint_pos) const;
 
  std::future<bool> AsyncMoveToJointPos(const std::array<double, 6>& joint_pos) const;
 
  bool MoveToCartPos(const std::pair<std::array<double, 3>, std::array<double, 4>>& cart_pos) const;
 
  std::future<bool> AsyncMoveToCartPos(const std::pair<std::array<double, 3>, std::array<double, 4>>& cart_pos) const;
 
  bool MoveEefPos(const std::vector<double>& eef_pos) const;
 
  std::future<bool> AsyncMoveEefPos(const std::vector<double>& eef_pos) const;
 
  bool MoveEefPos(const double& eef_pos) const;
 
  std::future<bool> AsyncMoveEefPos(const double& eef_pos) const;
 
  bool MoveWithCartWaypoints(
      const std::vector<std::pair<std::array<double, 3>, std::array<double, 4>>>& cart_waypoints) const;
 
  std::future<bool> AsyncMoveWithCartWaypoints(
      const std::vector<std::pair<std::array<double, 3>, std::array<double, 4>>>& cart_waypoints) const;
 
  bool MoveWithJointWaypoints(const std::vector<std::array<double, 6>>& joint_waypoints) const;
 
  std::future<bool> AsyncMoveWithJointWaypoints(const std::vector<std::array<double, 6>>& joint_waypoints) const;
 
  void MitJointIntegratedControl(const std::array<double, 6>& joint_pos, const std::array<double, 6>& joint_vel,
                                 const std::array<double, 6>& joint_eff, const std::array<double, 6>& joint_kp,
                                 const std::array<double, 6>& joint_kd) const;
 
  void ServoJointPos(const std::array<double, 6>& joint_pos) const;
 
  void ServoJointVel(const std::array<double, 6>& joint_vel) const;
 
  void ServoCartPos(const std::pair<std::array<double, 3>, std::array<double, 4>>& cart_pos) const;
 
  void ServoCartTwist(const std::pair<std::array<double, 3>, std::array<double, 3>>& twist) const;
 
  void ServoEefPos(const std::vector<double>& eef_pos) const;
 
  void ServoEefPos(const double& eef_pos) const;
 
  ~AirbotSdk();
 
 private:
  std::shared_ptr<spdlog::logger> logger_; 
  std::unique_ptr<AirbotArm>
      arm_; 
};
 
}  // namespace airbot
 
#endif  // AIRBOT_SDK_HPP_