Sport Client — C++ Example

Source: rbq_sdk/cpp/example/src/rbq_sport_client.cpp

An interactive terminal application that sends SportClient commands to the robot one at a time.
Type a command name (or its numeric ID) and the application executes it in a 50 Hz loop until you type a different command.

How it works

The program has a single loop that:

1. Reads a line of input from stdin (list, a command name, or a command ID).
2. Updates the current test_option.
3. Calls the matching SportClient method on every 20 ms tick.

There is no separate control thread — the terminal read blocks until the user presses Enter, making this a simple sequential test harness.

Prerequisites

• RBQ SDK built and installed — see C++ SDK Overview.
• Robot stack running (simulation or hardware) and reachable on the same network.

Build

From rbq_sdk/cpp/example/:

bash scripts/setup.bash
bash scripts/build.bash

Binary: bin/rbq_sport_client

Run

./bin/rbq_sport_client [networkInterface]

# Simulator / on-robot stack — interface defaults to lo
./bin/rbq_sport_client

# Real robot — pass the interface that reaches it
./bin/rbq_sport_client eth0

Available commands

Type list at the prompt to print all commands, or use the numeric ID directly.

ID	Name	SportClient method called
0	damp	Damp() — high-damping e-stop
1	balance_stand	BalanceStand() — balanced standing
2	stop_move	StopMove() — stop in place
3	stand_down	StandDown() — go prone
4	recovery_stand	RecoveryStand() — stand up from fall
5	move	Move(0.0, 0.0, 0.5) — rotate in place
6	switch_gait	SwitchGait(0) — switch to default gait
8	get_state	GetState() — print FSM / speed / process state
11	stand_up	StandUp() — lock joints in standing position
12	enter_leftside_gait	LeftSideGait(1)
13	exit_leftside_gait	LeftSideGait(0)

The example program's list also prints commands the robot does not implement; those return a "not implemented" error. Only the commands above are supported.

Usage example

$ ./bin/rbq_sport_client eth0
Input "list " to list all test option ...
balance_stand
Test: balance_stand, test_id: 1
Request successed: balance_stand, code: 0
Request successed: balance_stand, code: 0
...
move
Test: move, test_id: 5
Request successed: move, code: 0
...

Key implementation notes

• SetNoReply(true): The SportClient is initialized with SetNoReply(true). This fires each request as a DDS publish without waiting for an RPC response — suitable for high-frequency control over WiFi where round-trip latency is unpredictable.
• 50 Hz tick: std::this_thread::sleep_until enforces the 20 ms loop period.
• Error counting: A res_count variable accumulates consecutive failures and prints the count alongside error codes.

See also

• Sport Client (Joystick)
• High Level Command
• C++ SDK Overview