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

@@ -0,0 +1,54 @@
+#ifndef __UT_ROBOT_SDK_CHANNEL_PUBLISHER_HPP__
+#define __UT_ROBOT_SDK_CHANNEL_PUBLISHER_HPP__
+
+#include <unitree/robot/channel/channel_factory.hpp>
+
+namespace unitree
+{
+namespace robot
+{
+template<typename MSG>
+class ChannelPublisher
+{
+public:
+    explicit ChannelPublisher(const std::string& channelName) :
+        mChannelName(channelName)
+    {}
+
+    void InitChannel()
+    {
+        mChannelPtr = ChannelFactory::Instance()->CreateSendChannel<MSG>(mChannelName);
+    }
+
+    bool Write(const MSG& msg, int64_t waitMicrosec = 0)
+    {
+        if (mChannelPtr)
+        {
+            return mChannelPtr->Write(msg, waitMicrosec);
+        }
+
+        return false;
+    }
+
+    void CloseChannel()
+    {
+        mChannelPtr.reset();
+    }
+
+    const std::string& GetChannelName() const
+    {
+        return mChannelName;
+    }
+
+private:
+    std::string mChannelName;
+    ChannelPtr<MSG> mChannelPtr;
+};
+
+template<typename MSG>
+using ChannelPublisherPtr = std::shared_ptr<ChannelPublisher<MSG>>;
+
+}
+}
+
+#endif//__UT_ROBOT_SDK_CHANNEL_PUBLISHER_HPP__