该示例展示了如何使用 MagicDog SDK 进行初始化、连接机器人、机器人状态监控（故障、BMS）等基本操作。

C++

示例文件：monitor_example.cpp

参考文档：C++ API/monitor_reference.md

#include "magic_robot.h"

#include <unistd.h>
#include <csignal>

#include <iostream>

using namespace magic::dog;

magic::dog::MagicRobot robot;

void signalHandler(int signum) {
  std::cout << "Interrupt signal (" << signum << ") received.\n";

  robot.Shutdown();
  // Exit process
  exit(signum);
}

int main() {
  // Bind SIGINT（Ctrl+C）
  signal(SIGINT, signalHandler);

  std::string local_ip = "192.168.55.10";
  // Configure local IP address for direct network connection to machine and initialize SDK
  if (!robot.Initialize(local_ip)) {
    std::cerr << "Robot SDK initialization failed." << std::endl;
    robot.Shutdown();
    return -1;
  }

  // Set RPC timeout to 5s
  robot.SetTimeout(5000);

  // Connect to robot
  auto status = robot.Connect();
  if (status.code != ErrorCode::OK) {
    std::cerr << "Connect robot failed"
              << ", code: " << status.code
              << ", message: " << status.message << std::endl;
    robot.Shutdown();
    return -1;
  }
  // Wait 10s
  usleep(10000000);

  auto& monitor = robot.GetStateMonitor();

  auto state = monitor.GetCurrentState();

  std::cout << "Health: " << state.bms_data.battery_health
            << ", Percentage: " << state.bms_data.battery_percentage
            << ", State: " << std::to_string((int8_t)state.bms_data.battery_state)
            << ", Power supply status: " << std::to_string((int8_t)state.bms_data.power_supply_status)
            << std::endl;

  auto& faults = state.faults;
  for (auto& [code, msg] : faults) {
    std::cout << "Code: " << std::to_string(code)
              << ", Message: " << msg;
  }

  // Disconnect from robot
  status = robot.Disconnect();
  if (status.code != ErrorCode::OK) {
    std::cerr << "Disconnect robot failed"
              << ", code: " << status.code
              << ", message: " << status.message << std::endl;
    robot.Shutdown();
    return -1;
  }

  robot.Shutdown();

  return 0;
}

Python

示例文件：monitor_example.py

参考文档：Python API/monitor_reference.md

#!/usr/bin/env python3
# -*- coding: utf-8 -*-
"""
MagicDog SDK Python Usage Example

This file demonstrates how to use MagicDog SDK Python bindings to control the robot.
"""

import sys
import time
import logging
from typing import Optional

logging.basicConfig(
    level=logging.INFO,  # Minimum log level
    format="%(asctime)s [%(levelname)s] %(message)s",
    datefmt="%Y-%m-%d %H:%M:%S",
)

try:
    import magicdog_python as magicdog
    logging.info("Successfully imported MagicDog Python module!")
except ImportError as e:
    logging.error(f"Import failed: {e}")
    logging.error("Please run build_python.sh to build Python bindings first")
    sys.exit(1)

def main():
    """Main function"""
    logging.info("MagicDog SDK Python Example Program")

    robot = magicdog.MagicRobot()
    if not robot.initialize("192.168.55.10"):
        logging.error("Initialization failed")
        return
    
    robot.set_timeout(5000)
    
    if not robot.connect():
        logging.error("Connection failed")
        robot.shutdown()
        return

    time.sleep(10)

    monitor = robot.get_state_monitor()

    state = monitor.get_current_state()
    logging.info(f"health: {state.bms_data.battery_health}, percentage: {state.bms_data.battery_percentage}, state: {state.bms_data.battery_state}, power_supply_status: {state.bms_data.power_supply_status}")

    for fault in state.faults:
        logging.info(f"code: {fault.error_code}, message: {fault.error_message}")
    
    robot.disconnect()
    robot.shutdown()
    
    logging.info("\nExample program execution completed!")

if __name__ == "__main__":
    main()

运行说明

1. 环境准备：

# 设置环境变量
export PYTHONPATH=/opt/magic_robotics/magicdog_sdk/lib:$PYTHONPATH
export LD_LIBRARY_PATH=/opt/magic_robotics/magicdog_sdk/lib:$LD_LIBRARY_PATH

2. 运行示例：

# C++
./monitor_example
# Python
python3 monitor_example.py

3. 停止程序：

• 按 Ctrl+C 可以安全停止程序
• 程序会自动清理所有资源