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

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+#ifndef __UT_ROBOT_SDK_LEASE_CLIENT_H__
+#define __UT_ROBOT_SDK_LEASE_CLIENT_H__
+
+#include <unitree/robot/client/client_base.hpp>
+#include <unitree/common/thread/recurrent_thread.hpp>
+
+namespace unitree
+{
+namespace robot
+{
+class LeaseContext
+{
+public:
+    LeaseContext();
+    ~LeaseContext();
+
+    void Update(int64_t id, int64_t term);
+    void Reset();
+
+    bool Valid() const;
+
+    int64_t GetId() const;
+    int64_t GetTerm() const;
+
+private:
+    int64_t mId;
+    int64_t mTerm;
+};
+
+using LeaseContextPtr = std::shared_ptr<LeaseContext>;
+
+class LeaseClient : public ClientBase
+{
+public:
+    explicit LeaseClient(const std::string& name);
+    ~LeaseClient();
+
+    void Init();
+
+    void WaitApplied();
+    int64_t GetId();
+    bool Applied();
+
+private:
+    void Apply();
+    void Renewal();
+
+    void ThreadFunction();
+
+    int64_t GetWaitMicrosec();
+
+private:
+    std::string mName;
+    std::string mContextName;
+    LeaseContext mContext;
+    common::ThreadPtr mThreadPtr;
+    common::Mutex mMutex;
+};
+
+using LeaseClientPtr = std::shared_ptr<LeaseClient>;
+
+}
+}
+
+#endif//__UT_ROBOT_SDK_LEASE_CLIENT_H__