GDK Common Interface Documentation (C++)

Overview

The Common module provides the G02 robot with initialization and release functionality for the GDK system. Through the C++ interface, developers can conveniently manage the lifecycle of the GDK system, ensuring the system starts correctly and resources are released correctly.

Interface Description

Global Functions

1. GDKInit()

• Function: Initialize the GDK system
• Parameters: None
• Return Value: GDKRes, the operation result status code
• GDKRes::kSuccess: Initialization succeeded

• Other values: Initialization failed

• Description:

• This function must be called before calling any other GDK functionality
• Initializes the GDK internal system, DDS connection, configuration management, etc.

• It is recommended to call this once at program startup

• Example:

#include <iostream>
#include "gdk/gdk.h"

int main() {
    // Initialize the GDK system
    agibot::gdk::GDKRes init_result = agibot::gdk::GDKInit();

    if (init_result != agibot::gdk::GDKRes::kSuccess) {
        std::cout << "GDK initialization failed: " << static_cast<int>(init_result) << std::endl;
        return -1;
    }

    std::cout << "GDK initialized successfully" << std::endl;

    // Use GDK functionality...

    return 0;
}

2. GDKRelease()

• Function: Release GDK system resources
• Parameters: None
• Return Value: GDKRes, the operation result status code
• GDKRes::kSuccess: Release succeeded

• Other values: Release failed

• Description:

• Call this function before the program ends to release GDK system resources
• Cleans up the DDS connection, closes file handles, releases memory, etc.

• It is recommended to call this once before the program exits

• Example:

#include <iostream>
#include "gdk/gdk.h"

int main() {
    // Initialize the GDK system
    agibot::gdk::GDKRes init_result = agibot::gdk::GDKInit();

    if (init_result != agibot::gdk::GDKRes::kSuccess) {
        std::cout << "GDK initialization failed" << std::endl;
        return -1;
    }

    std::cout << "GDK initialized successfully" << std::endl;

    // Use GDK functionality...

    // Release GDK system resources
    agibot::gdk::GDKRes release_result = agibot::gdk::GDKRelease();

    if (release_result != agibot::gdk::GDKRes::kSuccess) {
        std::cout << "GDK release failed: " << static_cast<int>(release_result) << std::endl;
        return -1;
    }

    std::cout << "GDK released successfully" << std::endl;
    return 0;
}

Complete Usage Example

#include <iostream>
#include <thread>
#include "gdk/gdk.h"

int main() {
    std::cout << "GDK Common example program" << std::endl;

    // 1. Initialize the GDK system
    std::cout << "Initializing GDK system..." << std::endl;
    agibot::gdk::GDKRes init_result = agibot::gdk::GDKInit();

    if (init_result != agibot::gdk::GDKRes::kSuccess) {
        std::cout << "❌ GDK initialization failed: " << static_cast<int>(init_result) << std::endl;
        return -1;
    }

    std::cout << "✅ GDK initialized successfully" << std::endl;

    // 2. Use GDK functionality
    std::cout << "Starting to use GDK functionality..." << std::endl;

    // Create a camera object
    agibot::gdk::Camera camera;
    std::this_thread::sleep_for(std::chrono::seconds(1));

    // Create an IMU object
    agibot::gdk::Imu imu;
    std::this_thread::sleep_for(std::chrono::seconds(1));

    std::cout << "Finished using GDK functionality" << std::endl;

    // 3. Release GDK system resources
    std::cout << "Releasing GDK system resources..." << std::endl;
    agibot::gdk::GDKRes release_result = agibot::gdk::GDKRelease();

    if (release_result != agibot::gdk::GDKRes::kSuccess) {
        std::cout << "❌ GDK release failed: " << static_cast<int>(release_result) << std::endl;
        return -1;
    }

    std::cout << "✅ GDK released successfully" << std::endl;
    std::cout << "Program ended normally" << std::endl;

    return 0;
}

Usage Notes

1. Initialization order: GDKInit() must be called before calling any other GDK functionality
2. Release order: Call GDKRelease() to release resources before the program ends
3. Error handling: Always check the return value to ensure the operation succeeded
4. Single call: Typically you only need to call GDKInit() once at program start and GDKRelease() once at the end
5. Exception safety: Ensure GDKRelease() is called to release resources even in exceptional situations
6. Multithreading: GDK initialization is global; in a multithreaded environment, only one thread needs to call it

Error Code Description

Error Code	Description	Possible Cause
GDKRes::kSuccess	Operation succeeded	-
GDKRes::kInvalidInput	Invalid input	Parameter error
GDKRes::kInvalidOutput	Invalid output	Output parameter error
GDKRes::kTimeout	Timeout	Operation timed out
GDKRes::kNotInitialized	Not initialized	System not properly initialized
GDKRes::kAlreadyInitialized	Already initialized	Duplicate initialization
GDKRes::kInternalError	Internal error	System internal error

Application Scenarios

• System startup: Initialize GDK when the robot system starts up
• Resource management: Ensure GDK system resources are released correctly