init

unitree_SDK/include/unitree/robot/go2/config/config_client.hpp

@@ -0,0 +1,68 @@
+#ifndef __UT_ROBOT_GO2_CONFIG_CLIENT_HPP__
+#define __UT_ROBOT_GO2_CONFIG_CLIENT_HPP__
+
+#include <unitree/robot/client/client.hpp>
+#include <unitree/robot/channel/channel_subscriber.hpp>
+#include <unitree/idl/go2/ConfigChangeStatus_.hpp>
+
+namespace unitree
+{
+namespace robot
+{
+namespace go2
+{
+/*
+ * @brief ConfigMeta
+ */
+class ConfigMeta
+{
+public:
+    ConfigMeta() : size(-1), epoch(-1)
+    {}
+    ~ConfigMeta()
+    {}
+
+public:
+    std::string name;
+    std::string lastModified;
+    int32_t size;
+    int32_t epoch;
+};
+
+/*
+ * @brief ConfigClient
+ */
+
+using ConfigChangeStatusCallback = std::function<void(const std::string&,const std::string&)>;
+
+class ConfigClient : public Client
+{
+public:
+    explicit ConfigClient();
+    ~ConfigClient();
+
+    void Init();
+
+    int32_t Set(const std::string& name, const std::string& content);
+    int32_t Get(const std::string& name, std::string& content);
+    int32_t Del(const std::string& name);
+    int32_t Meta(const std::string& name, ConfigMeta& meta);
+    int32_t Meta(const std::string& name, std::string& meta);
+
+    void SubscribeChangeStatus(const std::string& name, const ConfigChangeStatusCallback& callback);
+
+private:
+    void ChangeStatusMessageHandler(const void* message);
+
+private:
+    unitree::common::Mutex mLock;
+    std::map<std::string,ConfigChangeStatusCallback> mNameCallbackMap;
+    ChannelSubscriberPtr<unitree_go::msg::dds_::ConfigChangeStatus_> mSubscriberPtr;
+};
+
+}
+}
+}
+
+#endif//__UT_ROBOT_GO2_CONFIG_CLIENT_HPP__
+