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unitree_SDK/include/unitree/robot/future/request_future.hpp

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+#ifndef __UT_DDS_ROBOT_REQUEST_FUTURE_HPP__
+#define __UT_DDS_ROBOT_REQUEST_FUTURE_HPP__
+
+#include <unitree/common/lock/lock.hpp>
+#include <unitree/robot/internal/internal.hpp>
+
+namespace unitree
+{
+namespace robot
+{
+class RequestFutureQueue;
+using RequestFutureQueuePtr = std::shared_ptr<RequestFutureQueue>;
+
+/*
+ * @brief
+ * @class: RequestFuture
+ */
+class RequestFuture : public std::enable_shared_from_this<RequestFuture>
+{
+public:
+    enum
+    {
+        DEFER = 0,
+        READY = 1
+    };
+
+    explicit RequestFuture();
+    explicit RequestFuture(int64_t requestId);
+    ~RequestFuture();
+
+    void SetRequestId(int64_t requestId);
+    int64_t GetRequestId() const;
+
+    bool SetQueue(const std::shared_ptr<RequestFutureQueue>& futureQueuePtr);
+
+    const ResponsePtr& GetResponse(int64_t microsec);
+
+public:
+    void Ready(const ResponsePtr& requestPtr);
+
+private:
+    bool IsDeferred();
+    bool IsReady();
+
+private:
+    int32_t mState;
+    int64_t mRequestId;
+    ResponsePtr mResponsePtr;
+    common::MutexCond mMutexCond;
+    RequestFutureQueuePtr mFutureQueuePtr;
+};
+
+using RequestFuturePtr = std::shared_ptr<RequestFuture>;
+
+/*
+ * @brief
+ * @class: RequestFutureQueue
+ */
+class RequestFutureQueue
+{
+public:
+    using iterator = std::unordered_map<int64_t,RequestFuturePtr>::iterator;
+    using const_iterator = std::unordered_map<int64_t,RequestFuturePtr>::const_iterator;
+
+    RequestFutureQueue();
+    ~RequestFutureQueue();
+
+    RequestFuturePtr Get(int64_t requestId);
+    bool Put(int64_t requestId, const RequestFuturePtr& futurePtr);
+    void Remove(int64_t requestId);
+
+    size_t Size();
+
+private:
+    common::Mutex mMutex;
+    std::unordered_map<int64_t,RequestFuturePtr> mFutureMap;
+};
+
+}
+}
+
+#endif//__UT_DDS_ROBOT_REQUEST_FUTURE_HPP__