add client Call method to support VIOCE service api

Author: Sun Jiayun

unitree_sdk2py/rpc/client.py

@@ -56,6 +56,28 @@ def _CallNoReply(self, apiId: int, parameter: str):
         else:
             return RPC_ERR_CLIENT_API_NOT_REG
 
+    def _CallRequestWithParamAndBin(self, apiId: int, requestParamter: str,
+                                    requestBinary: list):
+        ret, proirity, leaseId = self.__CheckApi(apiId)
+        if ret == 0:
+            return self._CallRequestWithParamAndBinBase(apiId, requestParamter,
+                                                        requestBinary, proirity,
+                                                        leaseId)
+        else:
+            return RPC_ERR_CLIENT_API_NOT_REG, None
+
+    def _CallRequestWithParamAndBinNoReply(self, apiId: int, requestParamter: str,
+                                           requestBinary: list):
+        ret, proirity, leaseId = self.__CheckApi(apiId)
+        if ret == 0:
+            return self._CallRequestWithParamAndBinNoReplyBase(apiId,
+                                                               requestParamter,
+                                                               requestBinary,
+                                                               proirity,
+                                                               leaseId)
+        else:
+            return RPC_ERR_CLIENT_API_NOT_REG
+
     def _CallBinary(self, apiId: int, parameter: list):
         ret, proirity, leaseId = self.__CheckApi(apiId)
         if ret == 0:

unitree_sdk2py/rpc/client_base.py

@@ -55,7 +55,42 @@ def _CallNoReplyBase(self, apiId: int, parameter: str, proirity: int, leaseId: i
             return 0
         else:
             return RPC_ERR_CLIENT_SEND
-    
+
+    def _CallRequestWithParamAndBinBase(self, apiId: int, requestParamter: str,
+                                        requestBinary: list, proirity: int = 0,
+                                        leaseId: int = 0):
+        header = self.__SetHeader(apiId, leaseId, proirity, False)
+        request = Request(header, requestParamter, requestBinary)
+
+        future = self.__stub.SendRequest(request, self.__timeout)
+        if future is None:
+            return RPC_ERR_CLIENT_SEND, None
+
+        result = future.GetResult(self.__timeout)
+
+        if result.code != FutureResult.FUTURE_SUCC:
+            self.__stub.RemoveFuture(request.header.identity.id)
+            code = RPC_ERR_CLIENT_API_TIMEOUT if result.code == FutureResult.FUTUTE_ERR_TIMEOUT else RPC_ERR_UNKNOWN
+            return code, None
+
+        response = result.value
+
+        if response.header.identity.api_id != apiId:
+            return RPC_ERR_CLIENT_API_NOT_MATCH, None
+        else:
+            return response.header.status.code, response.data
+
+    def _CallRequestWithParamAndBinNoReplyBase(self, apiId: int, requestParamter: str,
+                                               requestBinary: list, proirity: int,
+                                               leaseId: int):
+        header = self.__SetHeader(apiId, leaseId, proirity, True)
+        request = Request(header, requestParamter, request_binary)
+
+        if self.__stub.Send(request, self.__timeout):
+            return 0
+        else:
+            return RPC_ERR_CLIENT_SEND
+
     def _CallBinaryBase(self, apiId: int, parameter: list, proirity: int, leaseId: int):
         header = self.__SetHeader(apiId, leaseId, proirity, False)
         request = Request(header, "", parameter)