init

unitree_SDK/include/unitree/common/dds/dds_callback.hpp

@@ -0,0 +1,35 @@
+#ifndef __UT_DDS_CALLBACK_HPP__
+#define __UT_DDS_CALLBACK_HPP__
+
+#include <unitree/common/decl.hpp>
+
+using DdsMessageHandler = std::function<void(const void*)>;
+
+namespace unitree
+{
+namespace common
+{
+class DdsReaderCallback
+{
+public:
+    DdsReaderCallback();
+    DdsReaderCallback(const DdsMessageHandler& handler);
+    DdsReaderCallback(const DdsReaderCallback& cb);
+    DdsReaderCallback& operator=(const DdsReaderCallback& cb);
+
+    ~DdsReaderCallback();
+
+public:
+    bool HasMessageHandler() const;
+    void OnDataAvailable(const void* message);
+
+private:
+    DdsMessageHandler mMessageHandler;
+};
+
+using DdsReaderCallbackPtr = std::shared_ptr<DdsReaderCallback>;
+
+}
+}
+
+#endif//__UT_DDS_CALLBACK_HPP__