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__