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

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+#ifndef __UT_ROBOT_SDK_CHANNEL_LABOR_HPP__
+#define __UT_ROBOT_SDK_CHANNEL_LABOR_HPP__
+
+#include <unitree/robot/channel/channel_factory.hpp>
+#include <unitree/robot/channel/channel_namer.hpp>
+#include <unitree/common/time/time_tool.hpp>
+
+namespace unitree
+{
+namespace robot
+{
+/*
+ * @brief
+ * @class: ChannelLabor
+ */
+template<typename SEND_MSG, typename RECV_MSG>
+class ChannelLabor
+{
+public:
+    ChannelLabor()
+    {}
+
+    virtual ~ChannelLabor()
+    {}
+
+    void InitChannel(const std::string& name, const std::function<void(const void*)>& recvMesageCallback, int32_t queuelen = 0)
+    {
+        std::string sendChannelName = mNamerPtr->GetSendChannelName(name);
+        std::string recvChannelName = mNamerPtr->GetRecvChannelName(name);
+
+        mSendChannlPtr = ChannelFactory::Instance()->CreateSendChannel<SEND_MSG>(sendChannelName);
+        mRecvChannlPtr = ChannelFactory::Instance()->CreateRecvChannel<RECV_MSG>(recvChannelName, recvMesageCallback, queuelen);
+    }
+
+    bool Send(const SEND_MSG& msg, int64_t waitTimeout)
+    {
+        return mSendChannlPtr->Write(msg, waitTimeout);
+    }
+
+    int64_t GetLastDataAvailableTime() const
+    {
+        return mRecvChannlPtr->GetLastDataAvailableTime();
+    }
+
+protected:
+    ChannelNamerPtr mNamerPtr;
+
+private:
+    ChannelPtr<SEND_MSG> mSendChannlPtr;
+    ChannelPtr<RECV_MSG> mRecvChannlPtr;
+};
+
+template<typename SEND_MSG, typename RECV_MSG>
+using ChannelLaborPtr = std::shared_ptr<ChannelLabor<SEND_MSG,RECV_MSG>>;
+
+/*
+ * @brief
+ * @class: ClientChannelLabor
+ */
+template<typename SEND_MSG, typename RECV_MSG>
+class ClientChannelLabor : public ChannelLabor<SEND_MSG,RECV_MSG>
+{
+public:
+    ClientChannelLabor()
+    {
+        ChannelLabor<SEND_MSG,RECV_MSG>::mNamerPtr = ChannelNamerPtr(new ClientChannelNamer());
+    }
+
+    ~ClientChannelLabor()
+    {}
+};
+
+template<typename SEND_MSG, typename RECV_MSG>
+using ClientChannelLaborPtr = std::shared_ptr<ClientChannelLabor<SEND_MSG,RECV_MSG>>;
+
+/*
+ * @brief
+ * @class: ServerChannelLabor
+ */
+template<typename SEND_MSG, typename RECV_MSG>
+class ServerChannelLabor : public ChannelLabor<SEND_MSG,RECV_MSG>
+{
+public:
+    ServerChannelLabor()
+    {
+        ChannelLabor<SEND_MSG,RECV_MSG>::mNamerPtr = ChannelNamerPtr(new ServerChannelNamer());
+    }
+
+    ~ServerChannelLabor()
+    {}
+};
+
+template<typename SEND_MSG, typename RECV_MSG>
+using ServerChannelLaborPtr = std::shared_ptr<ServerChannelLabor<RECV_MSG,SEND_MSG>>;
+
+}
+}
+
+#endif//__UT_ROBOT_SDK_CHANNEL_LABOR_HPP__