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unitree_SDK/include/unitree/common/os.hpp

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+#ifndef __UT_OS_HPP__
+#define __UT_OS_HPP__
+
+#include <unitree/common/decl.hpp>
+#include <unitree/common/lock/lock.hpp>
+
+namespace unitree
+{
+namespace common
+{
+enum UT_SCHED_POLICY
+{
+    UT_SCHED_POLICY_NORMAL = SCHED_OTHER,
+    UT_SCHED_POLICY_FIFO = SCHED_FIFO,
+    UT_SCHED_POLICY_RR = SCHED_RR,
+    UT_SCHED_POLICY_BATCH = SCHED_BATCH,
+    UT_SCHED_POLICY_IDLE = SCHED_IDLE,
+    UT_SCHED_POLICY_DEADLINE = SCHED_DEADLINE
+};
+
+class OsHelper
+{
+public:
+    static OsHelper* Instance()
+    {
+        static OsHelper inst;
+        return &inst;
+    }
+
+    uid_t GetUID() const;
+    gid_t GetGID() const;
+    std::string GetUser() const;
+    const struct passwd& GetPasswd() const;
+
+    bool GetPasswd(const std::string& name, struct passwd& pwd);
+    bool GetUIDAndGID(const std::string& name, uid_t& uid, gid_t& gid);
+
+    int32_t GetProcessorNumber() const;
+    int32_t GetProcessorNumberConf() const;
+
+    int32_t GetPageSize() const;
+
+    int64_t Align(int64_t len) const;
+    bool IsAligned(int64_t len) const;
+
+    const std::string& GetHostname() const;
+
+    uint32_t GetProcessId();
+    const std::string& GetProcessFileName();
+
+    std::string GetProcessName();
+    std::string GetProcessDirectory(bool withEndDelim = true);
+
+    uint64_t GetThreadId();
+    int32_t GetTid();
+
+    bool GetNetworkInterfaceIps(std::map<std::string,std::string>& networkInterfaceIpMap);
+    bool GetIps(std::set<std::string>& ips);
+
+    void CpuSet(const std::string& cpuIds);
+    void CpuSet(uint64_t threadId, size_t cpuId);
+
+    void SetThreadName(uint64_t threadId, const std::string& name);
+
+    void SetScheduler(int32_t policy, int32_t priority);
+    void SetScheduler(uint64_t threadId, int32_t policy, int32_t priority);
+
+    void SingletonProcessInstance();
+
+private:
+    OsHelper();
+
+    void __Getpwuid();
+    void __GetProcessor();
+    void __GetPageSize();
+    void __GetProcessFileName();
+    void __GetHostname();
+
+private:
+    uid_t mUID;
+    struct passwd mPasswd;
+    int32_t mProcessorNumber;
+    int32_t mProcessorNumberConf;
+    int32_t mPageSize;
+    std::string mHostname;
+    std::string mProcessFileName;
+    std::shared_ptr<Filelock> mInstanceLockPtr;
+};
+
+}
+}
+
+#endif//__UT_OS_HPP__