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unitree_SDK/include/unitree/robot/server/lease_server.hpp

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+#ifndef __UT_ROBOT_LEASE_SERVER_HPP__
+#define __UT_ROBOT_LEASE_SERVER_HPP__
+
+#include <unitree/robot/server/server_base.hpp>
+
+namespace unitree
+{
+namespace robot
+{
+class LeaseCache
+{
+public:
+    LeaseCache();
+    ~LeaseCache();
+
+    void Set(int64_t id, const std::string& mName, int64_t lastModified = 0);
+    void Renewal(int64_t lastModified = 0);
+    void Clear();
+
+    int64_t GetLastModified() const;
+    int64_t GetId() const;
+    const std::string& GetName() const;
+
+private:
+    int64_t mLastModified;
+    int64_t mId;
+    std::string mName;
+};
+
+class LeaseServer : public ServerBase
+{
+public:
+    explicit LeaseServer(const std::string& name, int64_t term);
+    ~LeaseServer();
+
+    void Init();
+
+    bool CheckRequestLeaseDenied(int64_t leaseId); 
+    
+private:
+    void ServerRequestHandler(const RequestPtr& request);
+
+    int32_t Apply(const std::string& parameter, std::string& data);
+    int32_t Renewal(int64_t leaseId);
+
+    int64_t GenerateId(const std::string& name);
+
+private:
+    int64_t mTerm;
+    LeaseCache mCache;
+    common::Mutex mMutex;
+    ServerStubPtr mServerStubPtr;
+};
+
+using LeaseServerPtr = std::shared_ptr<LeaseServer>;
+
+}
+}
+
+#endif//__UT_ROBOT_LEASE_SERVER_HPP__