Develop

RPC Source Of Truth

Lebai RPC definitions are documented at https://lebai-robotics.github.io/lebai-proto/.

Use that site for service methods, requests, and responses. Controller wire method names are snake_case mappings, for example proto StartTeachMode maps to wire RPC start_teach_mode; see docs/rpc-protocol.md before adding or renaming a method.

Add Or Change A Robot RPC

Use the migrated SDK2-style path:

1. Check the proto docs and confirm the actual wire RPC name.
2. Add or update nlohmann/json DTOs in sdk/src/protos_json.
3. Add or update the public declaration in sdk/include/lebai/robot.hh.
4. Convert public parameters to DTOs in sdk/src/robot.cc.
5. Add or update the internal call in sdk/src/robot_impl.hh and sdk/src/robot_impl.cc.
6. Review SWIG bindings under sdk/python, sdk/dotnet, and sdk/java if the public API changed.
7. Add focused tests in sdk/test.

Do not reintroduce the old handwritten DTO layer. New robot RPC request and response types belong under sdk/src/protos_json.

DTO Example

Prefer small aggregate structs with NLOHMANN_DEFINE_TYPE_INTRUSIVE when the JSON shape is direct:

namespace protos_json::motion_proto {
 
struct MotionIndex {
  unsigned int id{};
  NLOHMANN_DEFINE_TYPE_INTRUSIVE(MotionIndex, id)
};
 
}  // namespace protos_json::motion_proto

Use custom from_json/to_json only when the controller shape differs from the C++ field names or has optional fields.

Implementation Example

Public wrapper in sdk/src/robot.cc:

int Robot::movej(const std::vector<double>& joint_positions, double a,
                 double v, double t, double r) {
  protos_json::motion_proto::MoveRequest req;
  req.param.acc = a;
  req.param.velocity = v;
  req.param.time = t;
  req.param.radius = r;
  req.pose.kind = 1;
  req.pose.joint.joint = joint_positions;
 
  const auto resp = impl_->move_joint(req);
  return static_cast<int>(resp.id);
}

Internal RPC call in sdk/src/robot_impl.cc:

protos_json::motion_proto::MotionIndex Robot::RobotImpl::move_joint(
    const protos_json::motion_proto::MoveRequest& req) {
  return rpc_client_->Call<protos_json::motion_proto::MotionIndex>(
      "move_joint", {req});
}

Verification

At minimum, build the C++ test targets and run the DTO test:

cmake --build build-work --target test_json_protos test_robot
ctest --test-dir build-work -R TestJsonProtos --output-on-failure

When a simulator is running, use 127.0.0.1:3030 through TEST_ROBOT_IP=127.0.0.1 and run the focused test_robot case for the changed API.