init

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

@@ -0,0 +1,75 @@
+#ifndef __UT_ROBOT_SDK_CHANNEL_SUBSCRIBER_HPP__
+#define __UT_ROBOT_SDK_CHANNEL_SUBSCRIBER_HPP__
+
+#include <unitree/robot/channel/channel_factory.hpp>
+
+namespace unitree
+{
+namespace robot
+{
+template<typename MSG>
+class ChannelSubscriber
+{
+public:
+    explicit ChannelSubscriber(const std::string& channelName) :
+        mChannelName(channelName), mQueueLen(0)
+    {}
+
+    explicit ChannelSubscriber(const std::string& channelName, const std::function<void(const void*)>& handler, int64_t queuelen = 0) :
+        mChannelName(channelName), mQueueLen(queuelen), mHandler(handler)
+    {}
+
+    void InitChannel(const std::function<void(const void*)>& handler, int64_t queuelen = 0)
+    {
+        mHandler = handler;
+        mQueueLen = queuelen;
+
+        InitChannel();
+    }
+
+    void InitChannel()
+    {
+        if (mHandler)
+        {
+            mChannelPtr = ChannelFactory::Instance()->CreateRecvChannel<MSG>(mChannelName, mHandler, mQueueLen);
+        }
+        else
+        {
+            UT_THROW(common::CommonException, "subscribe handler is invalid");
+        }
+    }
+
+    void CloseChannel()
+    {
+        mChannelPtr.reset();
+    }
+
+    int64_t GetLastDataAvailableTime() const
+    {
+        if (mChannelPtr)
+        {
+            return mChannelPtr->GetLastDataAvailableTime();
+        }
+
+        return -1;
+    }
+
+    const std::string& GetChannelName() const
+    {
+        return mChannelName;
+    }
+
+private:
+    std::string mChannelName;
+    int64_t mQueueLen;
+    std::function<void(const void*)> mHandler;
+    ChannelPtr<MSG> mChannelPtr;
+};
+
+template<typename MSG>
+using ChannelSubscriberPtr = std::shared_ptr<ChannelSubscriber<MSG>>;
+
+}
+}
+
+#endif//__UT_ROBOT_SDK_CHANNEL_SUBSCRIBER_HPP__