set_collision_detector_sensitivity

Author: rise0chen

src/lib.rs

@@ -509,6 +509,10 @@ mod lebai_sdk {
 
         //Safety
         #[classmethod]
+        pub async fn set_collision_detector_sensitivity(&self, sensitivity: u32) -> Result<()> {
+            self.0.set_collision_detector_sensitivity(sensitivity).await
+        }
+        #[classmethod]
         pub async fn disable_collision_detector(&self) -> Result<()> {
             self.0.disable_collision_detector().await
         }

src/rpc/safety.rs

@@ -4,6 +4,13 @@ use proto::google::protobuf::Empty;
 use proto::lebai::safety::*;
 
 impl Robot {
+    pub(crate) async fn set_collision_detector_sensitivity(&self, sensitivity: u32) -> Result<()> {
+        let req = Empty {};
+        let mut rsp = self.c.get_collision_detector(Some(req)).await.map_err(|e| e.to_string())?;
+        rsp.sensitivity = sensitivity;
+        let _ = self.c.set_collision_detector(Some(rsp)).await.map_err(|e| e.to_string())?;
+        Ok(())
+    }
     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())?;