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unitree_SDK/include/unitree/common/thread/thread_task.hpp

@@ -0,0 +1,47 @@
+#ifndef __UT_THREAD_TASK_HPP__
+#define __UT_THREAD_TASK_HPP__
+
+#include <unitree/common/thread/future.hpp>
+
+namespace unitree
+{
+namespace common
+{
+class ThreadTask
+{
+public:
+    __UT_THREAD_DECL_TMPL_FUNC_ARG__
+    explicit ThreadTask(__UT_THREAD_TMPL_FUNC_ARG__)
+    {
+        mFunc = std::bind(__UT_THREAD_BIND_FUNC_ARG__);
+    }
+
+    virtual void Execute();
+
+    void SetEnqueueTime();
+    uint64_t GetEnqueueTime() const;
+
+protected:
+    uint64_t mEnqueueTimeMicrosec;
+    std::function<Any()> mFunc;
+};
+
+typedef std::shared_ptr<ThreadTask> ThreadTaskPtr;
+
+class ThreadTaskFuture : public ThreadTask, public FutureWrapper
+{
+public:
+    __UT_THREAD_DECL_TMPL_FUNC_ARG__
+    explicit ThreadTaskFuture(__UT_THREAD_TMPL_FUNC_ARG__)
+        : ThreadTask(__UT_THREAD_BIND_FUNC_ARG__)
+    {}
+
+    void Execute();
+};
+
+typedef std::shared_ptr<ThreadTaskFuture> ThreadTaskFuturePtr;
+
+}
+}
+
+#endif//__UT_THREAD_TASK_HPP__