init

unitree_SDK/include/unitree/common/service/base/service_application.hpp

@@ -0,0 +1,51 @@
+#ifndef __UT_SERVICE_APPLICATION_HPP__
+#define __UT_SERVICE_APPLICATION_HPP__
+
+#include <unitree/common/service/base/service_base.hpp>
+
+#define SERVICE_REGISTER(SERVICE)       \
+class SERVICE##Register                 \
+{                                       \
+public:                                 \
+    SERVICE##Register()                 \
+    {                                   \
+        unitree::common::ServiceApplication::Instance()->RegistService<SERVICE>(); \
+    }                                   \
+    static SERVICE##Register mRegister; \
+};                                      \
+SERVICE##Register SERVICE##Register::mRegister = SERVICE##Register();
+
+namespace unitree
+{
+namespace common
+{
+class ServiceApplication
+{
+public:
+    static ServiceApplication* Instance()
+    {
+        static ServiceApplication inst;
+        return &inst;
+    }
+
+    template<typename SERVICE>
+    void RegistService()
+    {
+        mServicePtr = ServicePtr(new SERVICE());
+    }
+
+    void Init(const std::string& configFileName);
+    void Start();
+    void Stop();
+
+private:
+    ServiceApplication();
+
+protected:
+    ServicePtr mServicePtr;
+};
+
+}
+}
+
+#endif//__UT_SERVICE_APPLICATION_HPP__

unitree_SDK/include/unitree/common/service/base/service_base.hpp

@@ -0,0 +1,104 @@
+#ifndef __UT_SERVICE_BASE_HPP__
+#define __UT_SERVICE_BASE_HPP__
+
+#include <unitree/common/service/base/service_config.hpp>
+
+namespace unitree
+{
+namespace common
+{
+class ServiceBase
+{
+public:
+    ServiceBase();
+    virtual ~ServiceBase();
+
+    virtual void Parse(const std::string& configFileName);
+
+    virtual void Init();
+
+    virtual void Register();
+
+    virtual void Start();
+
+    virtual void Wait();
+
+    virtual void Stop();
+
+protected:
+    /*
+     * Parse config content
+     */
+    virtual void ParseConfigContent(const std::string& content);
+
+    /*
+     * Get field: ServiceName
+     */
+    const std::string& GetServiceName() const;
+
+    /*
+     * Get field: CpuIds
+     */
+    const std::string& GetCpuIds() const;
+
+    /*
+     * Get top-level field/value
+     */
+    const Any& GetGlobalParameter(const std::string& name) const;
+
+    /*
+     * Get top-level field: Parameter
+     */
+    bool HasParameter(const std::string& name) const;
+
+    /*
+     * Get top-level field: Parameter
+     */
+    const JsonMap& GetParameter() const;
+
+    /*
+     * Get field from top-level field: Parameter
+     */
+    const Any& GetParameter(const std::string& name) const;
+
+    /*
+     * Get field from top-level field: Parameter
+     */
+    template<typename T>
+    const T& GetParameter(const std::string& name) const
+    {
+        return mConfig.GetParameter<T>(name);
+    }
+
+    /*
+     * Get field from top-level field: Parameter
+     */
+    template<typename T>
+    T GetNumberParameter(const std::string& name) const
+    {
+        return mConfig.GetNumberParameter<T>(name);
+    }
+
+    /*
+     * Get field from top-level field: Parameter
+     */
+    template<typename T>
+    T GetParameter(const std::string& name, const T& defValue) const
+    {
+        return mConfig.GetParameter<T>(name, defValue);
+    }
+
+    template<typename T>
+    T GetNumberParameter(const std::string& name, const T& defValue) const
+    {
+        return mConfig.GetNumberParameter<T>(name, defValue);
+    }
+
+private:
+    ServiceConfig mConfig;
+};
+typedef std::shared_ptr<ServiceBase> ServicePtr;
+
+}
+}
+#endif//__UT_SERVICE_BASE_HPP__

unitree_SDK/include/unitree/common/service/base/service_config.hpp

@@ -0,0 +1,37 @@
+#ifndef __UT_SERVICE_CONFIG_HPP__
+#define __UT_SERVICE_CONFIG_HPP__
+
+#include <unitree/common/service/base/service_decl.hpp>
+
+namespace unitree
+{
+namespace common
+{
+class ServiceConfig : public common::JsonConfig
+{
+public:
+    ServiceConfig();
+    virtual ~ServiceConfig();
+
+    ServiceConfig(const std::string& configFileName);
+
+    virtual void Parse(const std::string& configFileName);
+    virtual void ParseContent(const std::string& content);
+
+    //top-level field: ServiceName
+    const std::string& GetServiceName() const;
+
+    //top-level field: CpuIds
+    const std::string& GetCpuIds() const;
+
+protected:
+    std::string mCpuIds;
+    std::string mServiceName;
+};
+
+typedef std::shared_ptr<ServiceConfig> ServiceConfigPtr;
+
+}
+}
+
+#endif//__UT_SERVICE_CONFIG_HPP__

unitree_SDK/include/unitree/common/service/base/service_decl.hpp

@@ -0,0 +1,10 @@
+#ifndef __UT_SERVICE_DECL_HPP__
+#define __UT_SERVICE_DECL_HPP__
+
+#include <unitree/common/thread/thread.hpp>
+#include <unitree/common/time/time_tool.hpp>
+#include <unitree/common/json/json.hpp>
+#include <unitree/common/json/json_config.hpp>
+#include <unitree/common/log/log.hpp>
+
+#endif//__UT_SERVICE_DECL_HPP__

unitree_SDK/include/unitree/common/service/dds_service.hpp

@@ -0,0 +1,85 @@
+#ifndef __UT_DDS_SERVICE_HPP__
+#define __UT_DDS_SERVICE_HPP__
+
+#include <unitree/common/service/base/service_base.hpp>
+#include <unitree/common/service/base/service_config.hpp>
+#include <unitree/common/dds/dds_easy_model.hpp>
+
+namespace unitree
+{
+namespace common
+{
+class DdsService : public ServiceBase
+{
+public:
+    DdsService()
+    {
+        mLogger = GetLogger("/unitree/service/dds_service");
+        mQuit = false;
+    }
+
+    virtual ~DdsService()
+    {}
+
+    virtual void Register()
+    {}
+
+    virtual void Init()
+    {
+        mModel.Init(AnyCast<JsonMap>(GetGlobalParameter("DdsParameter")));
+        LOG_INFO(mLogger, "parse init dds model success.");
+    }
+
+    virtual void Start()
+    {}
+
+    virtual void Wait()
+    {
+        while (!mQuit) { sleep(1); }
+    }
+
+    virtual void Stop()
+    {
+        mQuit = true;
+    }
+
+public:
+    virtual void Parse(const std::string& configFileName)
+    {
+        ServiceBase::Parse(configFileName);
+        LOG_INFO(mLogger, "parse config success. filename:", configFileName);
+    }
+
+protected:
+    template<typename MSG>
+    void RegistTopicMessageHandler(const std::string& topic, const DdsMessageHandler& handler)
+    {
+        mModel.SetTopic<MSG>(topic, handler);
+        LOG_INFO(mLogger, "regist topic reader callback. topic:", topic);
+    }
+
+    template<typename MSG>
+    void RegistTopic(const std::string& topic)
+    {
+        mModel.SetTopic<MSG>(topic);
+        LOG_INFO(mLogger, "regist topic. topic:", topic);
+    }
+
+    /*
+     * Write message to topic
+     */
+    template<typename MSG>
+    void WriteMessage(const std::string& topic, const MSG& message)
+    {
+        mModel.WriteMessage<MSG>(topic, message);
+    }
+
+private:
+    bool mQuit;
+    DdsEasyModel mModel;
+    Logger* mLogger;
+};
+
+}
+}
+#endif//__UT_DDS_SERVICE_HPP__