36 lines
742 B
C++
36 lines
742 B
C++
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#ifndef __UT_DDS_CALLBACK_HPP__
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#define __UT_DDS_CALLBACK_HPP__
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#include <unitree/common/decl.hpp>
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using DdsMessageHandler = std::function<void(const void*)>;
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namespace unitree
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{
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namespace common
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{
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class DdsReaderCallback
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{
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public:
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DdsReaderCallback();
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DdsReaderCallback(const DdsMessageHandler& handler);
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DdsReaderCallback(const DdsReaderCallback& cb);
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DdsReaderCallback& operator=(const DdsReaderCallback& cb);
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~DdsReaderCallback();
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public:
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bool HasMessageHandler() const;
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void OnDataAvailable(const void* message);
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private:
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DdsMessageHandler mMessageHandler;
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};
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using DdsReaderCallbackPtr = std::shared_ptr<DdsReaderCallback>;
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}
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}
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#endif//__UT_DDS_CALLBACK_HPP__
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