unitree_sdk2_rs 0.1.0

use std::time::Duration;

use unitree_sdk2_rs::{subscribe, Publisher};
use unitree_sdk2_rs::unitree_hg::msg::dds_::BmsState;

#[tokio::main]
async fn main() {
    unitree_sdk2_rs::init_dds(0, "", "");

    let (_sub, rx) = subscribe::<BmsState>("rt/test_bms");

    tokio::time::sleep(Duration::from_millis(500)).await;

    let pub_ = Publisher::<BmsState>::new("rt/test_bms").expect("创建 BmsPublisher 失败");
    let bms = BmsState {
        version_high: 1, version_low: 0, r#fn: 0,
        cell_vol: [4000; 40],
        bmsvoltage: [42000, 0, 0],
        current: -2500, soc: 85, soh: 100,
        temperature: [32, 31, 30, 29, 28, 27, 26, 25, 24, 23, 22, 21],
        cycle: 1, manufacturer_date: 0,
        bmsstate: [0; 5], reserve: [0; 3],
    };
    pub_.publish(&bms);

    tokio::time::sleep(Duration::from_secs(1)).await;

    let last = rx.borrow().clone();
    match last {
        Some(d) => {
            println!("收到: SOC={}% 电压={}mV 电流={}mA 温度={}°C",
                     d.soc, d.bmsvoltage[0], d.current, d.temperature[0]);
            println!("BMS 测试通过 ✓");
        }
        None => {
            eprintln!("BMS 测试失败 ✗");
            std::process::exit(1);
        }
    }
}