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unitree_SDK/include/unitree/robot/client/client_base.hpp

@@ -0,0 +1,54 @@
+#ifndef __UT_ROBOT_SDK_CLIENT_BASE_HPP__
+#define __UT_ROBOT_SDK_CLIENT_BASE_HPP__
+
+#include <unitree/robot/client/client_stub.hpp>
+
+namespace unitree
+{
+namespace robot
+{
+/*
+ * @brief
+ * @default client timeout. 1s
+ */
+const int64_t ROBOT_CLIENT_TIMEOUT = 1000000;
+
+/*
+ * @brief
+ * @class: ClientBase
+ */
+class ClientBase
+{
+public:
+    explicit ClientBase(const std::string& name);
+    virtual ~ClientBase();
+
+    virtual void Init() = 0;
+
+    void SetTimeout(int64_t timeout);
+    void SetTimeout(float timeout);
+
+protected:
+    int32_t Call(int32_t apiId, const std::string& parameter, std::string& data, int32_t priority, int64_t leaseId);
+    int32_t Call(int32_t apiId, const std::string& parameter, int32_t priority, int64_t leaseId);
+
+    int32_t Call(int32_t apiId, const std::vector<uint8_t>& parameter, std::vector<uint8_t>& bin_data, int32_t priority, int64_t leaseId);
+    int32_t Call(int32_t apiId, const std::vector<uint8_t>& parameter, int32_t priority, int64_t leaseId);
+
+    int32_t Call(int32_t apiId, const std::string& parameter, const std::vector<uint8_t>& binary, int32_t priority, int64_t leaseId);
+
+    int32_t Call(int32_t apiId, const std::string& parameter, std::string& data, int32_t priority, int64_t leaseId, int64_t timeout);
+
+    void SetHeader(RequestHeader& header, int32_t apiId, int64_t leaseId, int32_t priority, bool noReply);
+
+private:
+    int64_t mTimeout;
+    ClientStubPtr mClientStubPtr;
+};
+
+using ClientBasePtr = std::shared_ptr<ClientBase>;
+
+}
+}
+
+#endif//__UT_ROBOT_SDK_CLIENT_BASE_HPP__