aidk.hpp

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#pragma once
 
#include <memory>
 
#include "flexiv/ai/defs.hpp"
 
namespace flexiv {
namespace ai {
 
class AIDKImpl;
 
class AIDKClient
{
public:
    AIDKClient(const std::string ip, float request_timeout);
 
    ~AIDKClient();
 
    bool is_ready() const noexcept;
 
    AIStatus get_current_state() const noexcept;
 
    bool detect(const std::string obj_name, const std::string camera_id,
                const int coordinate_id = 1,
                const std::vector<double> &camera_pose = {0.0, 0.0, 0.0, 1.0,
                                                          0.0, 0.0, 0.0},
                const std::vector<double> &tcp_pose = {0.0, 0.0, 0.0, 1.0, 0.0,
                                                       0.0, 0.0},
                const std::vector<double> &tcp_force = {0.0, 0.0, 0.0, 0.0, 0.0,
                                                        0.0},
                const std::string command = "CUSTOM",
                const std::string custom = "");
 
    bool detect_with_image(
        const std::string obj_name, const std::string camera_id,
        const int coordinate_id = 1,
        const std::vector<double> &camera_pose = {0.0, 0.0, 0.0, 1.0, 0.0, 0.0,
                                                  0.0},
        const std::vector<double> &camera_intrinsic = {0.0, 0.0, 0.0, 0.0, 0.0,
                                                       0.0},
        const std::vector<double> &tcp_pose = {0.0, 0.0, 0.0, 1.0, 0.0, 0.0,
                                               0.0},
        const std::vector<double> &tcp_force = {0.0, 0.0, 0.0, 0.0, 0.0, 0.0},
        const std::vector<u_char> &rgb_input = std::vector<u_char>(),
        const std::vector<u_char> &depth_input = std::vector<u_char>(),
        const std::string custom = "");
 
    bool detect_v1x(const std::string command,
                    const std::vector<double> &camera_pose = {0.0, 0.0, 0.0,
                                                              1.0, 0.0, 0.0,
                                                              0.0},
                    const std::vector<double> &tcp_pose = {0.0, 0.0, 0.0, 1.0,
                                                           0.0, 0.0, 0.0},
                    const std::vector<double> &tcp_force = {0.0, 0.0, 0.0, 0.0,
                                                            0.0, 0.0});
 
    uint64_t get_detected_time() const noexcept;
 
    bool reload_configs(const std::string name) const noexcept;
 
    bool save_configs() const noexcept;
 
    bool warmup() const noexcept;
 
    std::vector<std::string> all_direct_command() const noexcept;
 
    std::vector<std::string> get_detected_obj_names() const noexcept;
 
    std::vector<int> get_detected_obj_nums() const noexcept;
 
    int get_detected_obj_num(const std::string &obj_name) const noexcept;
 
    bool parse_result(const std::string &obj_name, const std::string &key,
                      int index, std::vector<Result> &result) noexcept;
 
    std::vector<float> get_camera_intrinsic() const noexcept;
 
    std::tuple<std::string, std::string, std::vector<std::string>>
    get_runtime_info() const noexcept;
 
    std::tuple<std::vector<std::string>, std::vector<std::string>>
    list_remote_files(const std::string remote_dir) const noexcept;
 
    std::tuple<uint64_t, uint32_t>
    get_file_info(const std::string remote_file_path) const;
 
    bool send_file(const std::string local_file_path,
                   const std::string remote_file_path) const;
 
    bool receive_file(const std::string remote_file_path,
                      const std::string local_file_path) const noexcept;
 
    void send_folder(const std::string local_dir,
                     const std::string remote_dir) const;
 
    void receive_folder(const std::string remote_dir,
                        const std::string local_dir) const noexcept;
 
    bool remove_path(const std::string remote_file_path) const noexcept;
 
    bool make_remote_directory(const std::string remote_dir) const noexcept;
 
    std::unordered_map<std::string, value_variant>
    get_direct_setting_variables();
 
    Response set_direct_setting_variables(
        std::unordered_map<std::string, value_variant> &vars);
 
private:
    std::unique_ptr<AIDKImpl> pimpl;
};
 
} /* namespace ai */
} /* namespace flexiv */