Provides the main controller for the robot system. Through MagicRobot, you can perform resource initialization, manage communication connections, and access various sub-controllers such as motion controllers, audio, state monitor, and sensor controllers.

Interface Definition

MagicRobot is the unified entry class for the robot SDK.

MagicRobot

Item	Content
Function Name	MagicRobot
Function Declaration	MagicRobot();
Function Overview	Constructor, creates a MagicRobot instance.
Notes	Constructs internal state.

~MagicRobot

Item	Content
Function Name	~MagicRobot
Function Declaration	~MagicRobot();
Function Overview	Destructor, releases MagicRobot instance resources.
Notes	Ensures safe resource release.

Initialize

Item	Content
Function Name	Initialize
Function Declaration	bool Initialize(const std::string& local_ip);
Function Overview	Initialize the robot system, including controllers and network modules.
Parameter Description	local_ip: Local communication IP address.
Return Value	true indicates success, false indicates failure.
Notes	Must be called before first use.

Shutdown

Item	Content
Function Name	Shutdown
Function Declaration	void Shutdown();
Function Overview	Shutdown the robot system and release resources.
Notes	Use in conjunction with Initialize.

Release

Item	Content
Function Name	Release
Function Declaration	void Release();
Function Overview	Release resources.
Notes	Release topic resources occupied by the SDK.

Connect

Item	Content
Function Name	Connect
Function Declaration	Status Connect();
Function Overview	Establish communication connection with robot service.
Return Value	Status::OK indicates success.
Notes	Blocking interface, must be called after initialization.

Disconnect

Item	Content
Function Name	Disconnect
Function Declaration	Status Disconnect();
Function Overview	Disconnect from robot service.
Return Value	gRPC call status.
Notes	Blocking interface, used in conjunction with Connect.

GetSDKVersion

Item	Content
Function Name	GetSDKVersion
Function Declaration	std::string GetSDKVersion() const;
Function Overview	Get the current SDK version number.
Return Value	SDK version string (e.g., 0.0.1).
Notes	Non-blocking interface, convenient for debugging or log marking.

SetTimeout

Item	Content
Function Name	SetTimeout
Function Declaration	void SetTimeout(int timeout);
Function Overview	Set the timeout time for interface calls.
Parameter Description	timeout: Time in milliseconds.
Return Value	None
Notes	Non-blocking interface, default value is 5000 milliseconds.

GetMotionControlLevel

Item	Content
Function Name	GetMotionControlLevel
Function Declaration	ControllerLevel GetMotionControlLevel();
Function Overview	Get the current motion control level (high-level/low-level).
Return Value	ControllerLevel enumeration value.
Notes	Non-blocking interface, used to determine current control permissions.

SetMotionControlLevel

Item	Content
Function Name	SetMotionControlLevel
Function Declaration	Status SetMotionControlLevel(ControllerLevel level);
Function Overview	Set the current motion control level.
Parameter Description	level: Control permission enumeration value.
Return Value	Status::OK indicates successful setting, others indicate setting failure.
Notes	Blocking interface, used when switching control modes.

GetHighLevelMotionController

Item	Content
Function Name	GetHighLevelMotionController
Function Declaration	HighLevelMotionController& GetHighLevelMotionController();
Function Overview	Get the high-level motion controller object.
Return Value	Reference type, used to call high-level control interfaces.
Notes	Non-blocking interface, encapsulates gait, tricks, remote control, etc.

GetLowLevelMotionController

Item	Content
Function Name	GetLowLevelMotionController
Function Declaration	LowLevelMotionController& GetLowLevelMotionController();
Function Overview	Get the low-level motion controller object.
Return Value	Reference type, used to control joints or motors.
Notes	Non-blocking interface, directly controls joint motors, gets IMU data, etc.

GetAudioController

Item	Content
Function Name	GetAudioController
Function Declaration	AudioController& GetAudioController();
Function Overview	Get the audio controller object.
Return Value	Reference type, used for audio control.
Notes	Non-blocking interface, plays audio and controls volume.

GetSensorController

Item	Content
Function Name	GetSensorController
Function Declaration	SensorController& GetSensorController();
Function Overview	Get the sensor controller object.
Return Value	Reference type, used to access sensor data.
Notes	Non-blocking interface, encapsulates Lidar, RGBD, etc. reading.

GetStateMonitor

Item	Content
Function Name	GetStateMonitor
Function Declaration	StateMonitor& GetStateMonitor();
Function Overview	Get the state monitor object.
Return Value	Reference type, used to get current robot state information.
Notes	Non-blocking interface, encapsulates reading of BMS, faults and other state information.