safety

Author: rise0chen

src/lib.rs

@@ -507,6 +507,24 @@ mod lebai_sdk {
             self.0.estop().await
         }
 
+        //Safety
+        #[classmethod]
+        pub async fn disable_collision_detector(&self) -> Result<()> {
+            self.0.disable_collision_detector().await
+        }
+        #[classmethod]
+        pub async fn enable_collision_detector(&self) -> Result<()> {
+            self.0.enable_collision_detector().await
+        }
+        #[classmethod]
+        pub async fn disable_joint_limits(&self) -> Result<()> {
+            self.0.disable_joint_limits().await
+        }
+        #[classmethod]
+        pub async fn enable_joint_limits(&self) -> Result<()> {
+            self.0.enable_joint_limits().await
+        }
+
         //MOTOR
         #[classmethod]
         pub async fn find_zero(&self) -> Result<()> {

src/rpc/mod.rs

@@ -9,6 +9,7 @@ pub mod motion;
 pub mod motor;
 pub mod plugin;
 pub mod posture;
+pub mod safety;
 pub mod serial;
 pub mod signal;
 pub mod storage;

src/rpc/safety.rs

@@ -0,0 +1,27 @@
+use super::Robot;
+use cmod::Result;
+use proto::google::protobuf::Empty;
+use proto::lebai::safety::*;
+
+impl Robot {
+    pub(crate) async fn disable_collision_detector(&self) -> Result<()> {
+        let req = Empty {};
+        let _ = self.c.disable_collision_detector(Some(req)).await.map_err(|e| e.to_string())?;
+        Ok(())
+    }
+    pub(crate) async fn enable_collision_detector(&self) -> Result<()> {
+        let req = Empty {};
+        let _ = self.c.enable_collision_detector(Some(req)).await.map_err(|e| e.to_string())?;
+        Ok(())
+    }
+    pub(crate) async fn disable_joint_limits(&self) -> Result<()> {
+        let req = Empty {};
+        let _ = self.c.disable_limit(Some(req)).await.map_err(|e| e.to_string())?;
+        Ok(())
+    }
+    pub(crate) async fn enable_joint_limits(&self) -> Result<()> {
+        let req = Empty {};
+        let _ = self.c.enable_limit(Some(req)).await.map_err(|e| e.to_string())?;
+        Ok(())
+    }
+}