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

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+#ifndef __UT_ROBOT_SDK_CHANNEL_NAMER_HPP__
+#define __UT_ROBOT_SDK_CHANNEL_NAMER_HPP__
+
+#include <unitree/common/decl.hpp>
+
+namespace unitree
+{
+namespace robot
+{
+const std::string ROBOT_SDK_CHANNEL_PREFIX = "rt/api/";
+const std::string ROBOT_SDK_CHANNEL_SUFFIX_CLIENT = "/request";
+const std::string ROBOT_SDK_CHANNEL_SUFFIX_SERVER = "/response";
+
+/*
+ * @brief
+ * @class: ChannelNamer
+ */
+class ChannelNamer
+{
+public:
+    virtual std::string GetSendChannelName(const std::string& name) = 0;
+    virtual std::string GetRecvChannelName(const std::string& name) = 0;
+};
+
+using ChannelNamerPtr = std::shared_ptr<ChannelNamer>;
+
+/*
+ * @brief
+ * @class: ClientChannelNamer
+ */
+class ClientChannelNamer : public ChannelNamer
+{
+public:
+    ClientChannelNamer();
+    ~ClientChannelNamer();
+
+protected:
+    std::string GetSendChannelName(const std::string& name);
+    std::string GetRecvChannelName(const std::string& name);
+};
+
+using ClientChannelNamerPtr = std::shared_ptr<ClientChannelNamer>;
+
+/*
+ * @brief
+ * @class: ServerChannelNamer
+ */
+class ServerChannelNamer : public ChannelNamer
+{
+public:
+    ServerChannelNamer();
+    virtual ~ServerChannelNamer();
+
+protected:
+    std::string GetSendChannelName(const std::string& name);
+    std::string GetRecvChannelName(const std::string& name);
+};
+
+using ServerChannelNamerPtr = std::shared_ptr<ServerChannelNamer>;
+
+}
+}
+
+#endif//__UT_ROBOT_SDK_CHANNEL_NAMER_HPP__