init

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__