init

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

@@ -0,0 +1,36 @@
+#ifndef __UT_ROBOT_SDK_CLIENT_STUB_HPP__
+#define __UT_ROBOT_SDK_CLIENT_STUB_HPP__
+
+#include <unitree/robot/future/request_future.hpp>
+#include <unitree/robot/channel/channel_labor.hpp>
+#include <unitree/common/block_queue.hpp>
+
+namespace unitree
+{
+namespace robot
+{
+class ClientStub
+{
+public:
+    explicit ClientStub();
+    ~ClientStub();
+
+    void Init(const std::string& name);
+
+    bool Send(const Request& req, int64_t waitTimeout);
+    RequestFuturePtr SendRequest(const Request& req, int64_t waitTimeout);
+
+private:
+    void ResponseFunc(const void* message);
+
+private:
+    ChannelLaborPtr<Request,Response> mChannelLaborPtr;
+    RequestFutureQueuePtr mFutureQueuePtr;
+};
+
+using ClientStubPtr = std::shared_ptr<ClientStub>;
+
+}
+}
+
+#endif//__UT_ROBOT_SDK_CLIENT_STUB_HPP__