init

unitree_SDK/include/unitree/robot/channel/channel_factory.hpp

@@ -0,0 +1,62 @@
+#ifndef __UT_ROBOT_SDK_CHANNEL_FACTORY_HPP__
+#define __UT_ROBOT_SDK_CHANNEL_FACTORY_HPP__
+
+#include <unitree/common/dds/dds_factory_model.hpp>
+
+namespace unitree
+{
+namespace robot
+{
+template<typename MSG>
+using Channel = unitree::common::DdsTopicChannel<MSG>;
+
+template<typename MSG>
+using ChannelPtr = unitree::common::DdsTopicChannelPtr<MSG>;
+
+class ChannelFactory
+{
+public:
+    static ChannelFactory* Instance()
+    {
+        static ChannelFactory inst;
+        return &inst;
+    }
+
+    void Init(int32_t domainId, const std::string& networkInterface = "");
+    void Init(const std::string& configFileName = "");
+    void Init(const common::JsonMap& jsonMap);
+
+    void Release();
+
+    template<typename MSG>
+    ChannelPtr<MSG> CreateSendChannel(const std::string& name)
+    {
+        ChannelPtr<MSG> channelPtr = mDdsFactoryPtr->CreateTopicChannel<MSG>(name);
+        mDdsFactoryPtr->SetWriter(channelPtr);
+        return channelPtr;
+    }
+
+    template<typename MSG>
+    ChannelPtr<MSG> CreateRecvChannel(const std::string& name, std::function<void(const void*)> callback, int32_t queuelen = 0)
+    {
+        ChannelPtr<MSG> channelPtr = mDdsFactoryPtr->CreateTopicChannel<MSG>(name);
+        mDdsFactoryPtr->SetReader(channelPtr, callback, queuelen);
+        return channelPtr;
+    }
+
+public:
+    ~ChannelFactory();
+
+private:
+    ChannelFactory();
+
+private:
+    bool mInited;
+    common::DdsFactoryModelPtr mDdsFactoryPtr;
+    common::Mutex mMutex;
+};
+
+}
+}
+
+#endif//__UT_ROBOT_SDK_CHANNEL_FACTORY_HPP__