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

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+#ifndef __UT_DDS_TOPIC_CHANNEL_HPP__
+#define __UT_DDS_TOPIC_CHANNEL_HPP__
+
+#include <unitree/common/dds/dds_entity.hpp>
+
+namespace unitree
+{
+namespace common
+{
+/*
+ * @brief: DdsTopicChannelAbstract
+ */
+class DdsTopicChannelAbstract
+{
+public:
+    virtual bool Write(const void* message, int64_t waitMicrosec) = 0;
+    virtual int64_t GetLastDataAvailableTime() const = 0;
+};
+
+using DdsTopicChannelAbstractPtr = std::shared_ptr<DdsTopicChannelAbstract>;
+
+#define UT_DDS_WAIT_MATCHED_TIME_MICRO_SEC 100000
+
+/*
+ * @brief: DdsTopicChannel
+ */
+template<typename MSG>
+class DdsTopicChannel : public DdsTopicChannelAbstract
+{
+public:
+    explicit DdsTopicChannel()
+    {}
+
+    ~DdsTopicChannel()
+    {}
+
+    void SetTopic(const DdsParticipantPtr& participant, const std::string& name, const DdsTopicQos& qos)
+    {
+        mTopic = DdsTopicPtr<MSG>(new DdsTopic<MSG>(participant, name, qos));
+    }
+
+    void SetWriter(const DdsPublisherPtr& publisher, const DdsWriterQos& qos)
+    {
+        mWriter = DdsWriterPtr<MSG>(new DdsWriter<MSG>(publisher, mTopic, qos));
+        MicroSleep(UT_DDS_WAIT_MATCHED_TIME_MICRO_SEC);
+    }
+
+    void SetReader(const DdsSubscriberPtr& subscriber, const DdsReaderQos& qos, const DdsReaderCallback& cb, int32_t queuelen)
+    {
+        mReader = DdsReaderPtr<MSG>(new DdsReader<MSG>(subscriber, mTopic, qos));
+        mReader->SetListener(cb, queuelen);
+    }
+
+    DdsWriterPtr<MSG> GetWriter() const
+    {
+        return mWriter;
+    }
+
+    DdsReaderPtr<MSG> GetReader() const
+    {
+        return mReader;
+    }
+
+    bool Write(const void* message, int64_t waitMicrosec)
+    {
+        return Write(*(const MSG*)message, waitMicrosec);
+    }
+
+    bool Write(const MSG& message, int64_t waitMicrosec)
+    {
+        return mWriter->Write(message, waitMicrosec);
+    }
+
+    int64_t GetLastDataAvailableTime() const
+    {
+        if (mReader)
+        {
+            return mReader->GetLastDataAvailableTime();
+        }
+
+        return 0;
+    }
+
+private:
+    DdsTopicPtr<MSG> mTopic;
+    DdsWriterPtr<MSG> mWriter;
+    DdsReaderPtr<MSG> mReader;
+};
+
+template<typename MSG>
+using DdsTopicChannelPtr = std::shared_ptr<DdsTopicChannel<MSG>>;
+
+}
+}
+
+#endif//__UT_DDS_TOPIC_CHANNEL_HPP__