41 lines
951 B
C++
41 lines
951 B
C++
|
#include <unitree/robot/go2/vui/vui_client.hpp>
|
||
|
|
|
||
|
|
int main(int32_t argc, const char** argv)
|
||
|
|
{
|
||
|
|
if (argc < 2)
|
||
|
|
{
|
||
|
|
std::cout << "Usage: vui_client_example network_interface_name" << std::endl;
|
||
|
|
exit(0);
|
||
|
|
}
|
||
|
|
/*
|
||
|
|
* Initilaize ChannelFactory
|
||
|
|
*/
|
||
|
|
std::string networkInterface = argv[1];
|
||
|
|
unitree::robot::ChannelFactory::Instance()->Init(0, networkInterface);
|
||
|
|
unitree::robot::go2::VuiClient vc;
|
||
|
|
|
||
|
|
/*
|
||
|
|
* Set request timeout 1.0s
|
||
|
|
*/
|
||
|
|
vc.SetTimeout(1.0f);
|
||
|
|
vc.Init();
|
||
|
|
|
||
|
|
//Test Api
|
||
|
|
|
||
|
|
int level = 0, value = 0;
|
||
|
|
int ret;
|
||
|
|
|
||
|
|
while (true)
|
||
|
|
{
|
||
|
|
ret = vc.SetBrightness(level);
|
||
|
|
std::cout << "SetBrightness level=" << level << ", api return:" << ret << std::endl;
|
||
|
|
++level %= 11;
|
||
|
|
sleep(1);
|
||
|
|
ret = vc.GetBrightness(value);
|
||
|
|
std::cout << "GetBrightness value=" << value << ", api return:" << ret << std::endl;
|
||
|
|
sleep(1);
|
||
|
|
}
|
||
|
|
|
||
|
|
return 0;
|
||
|
|
}
|