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

@@ -0,0 +1,77 @@
+#ifndef __UT_ROBOT_SDK_SERVER_HPP__
+#define __UT_ROBOT_SDK_SERVER_HPP__
+
+#include <unitree/robot/server/server_base.hpp>
+#include <unitree/robot/server/lease_server.hpp>
+
+#define UT_ROBOT_SERVER_REG_API_HANDLER_NO_LEASE(apiId, handler)            \
+    UT_ROBOT_SERVER_REG_API_HANDLER(apiId, handler, false)
+
+#define UT_ROBOT_SERVER_REG_API_BINARY_HANDLER_NO_LEASE(apiId, handler)     \
+    UT_ROBOT_SERVER_REG_API_BINARY_HANDLER(apiId, handler, false)
+
+#define UT_ROBOT_SERVER_REG_API_HANDLER(apiId, handler, checkLease)         \
+    RegistHandler(apiId, std::bind(handler, this, std::placeholders::_1, std::placeholders::_2), checkLease)
+
+#define UT_ROBOT_SERVER_REG_API_BINARY_HANDLER(apiId, handler, checkLease)  \
+    RegistBinaryHandler(apiId, std::bind(handler, this, std::placeholders::_1, std::placeholders::_2), checkLease)
+
+namespace unitree
+{
+namespace robot
+{
+using RequestHandler = std::function<int32_t(const std::string& parameter, std::string& data)>;
+using BinaryRequestHandler = std::function<int32_t(const std::vector<uint8_t>& parameter, std::vector<uint8_t>& data)>;
+
+class Server : public ServerBase
+{
+public:
+    explicit Server(const std::string& name);
+    virtual ~Server();
+
+    virtual void Init() = 0;
+
+    void StartLease(int64_t leaseTerm);
+    void StartLease(float leaseTerm);
+
+    const std::string& GetName();
+    const std::string& GetApiVersion() const;
+
+    int32_t GetCurrentApiId() const;
+
+protected:
+    void SetApiVersion(const std::string& version);
+
+    void ServerRequestHandler(const RequestPtr& request);
+
+    void RegistHandler(int32_t apiId, const RequestHandler& handler, bool checkLease = false);
+    void RegistBinaryHandler(int32_t apiId, const BinaryRequestHandler& binaryHandler, bool checkLease = false);
+
+    bool IsBinary(int32_t apiId);
+
+    RequestHandler GetHandler(int32_t apiId, bool& ignoreLease) const;
+    BinaryRequestHandler GetBinaryHandler(int32_t apiId, bool& ignoreLease) const;
+
+    bool CheckLeaseDenied(int64_t leaseId);
+
+private:
+    bool mEnableLease;
+    std::string mName;
+    std::string mApiVersion;
+    std::unordered_map<int32_t,std::pair<RequestHandler,bool>> mApiHandlerMap;
+    std::unordered_map<int32_t,std::pair<BinaryRequestHandler,bool>> mApiBinaryHandlerMap;
+
+    std::set<int32_t> mApiBinarySet;
+
+    LeaseServerPtr mLeaseServerPtr;
+
+private:
+    static thread_local int32_t mCurrentApiId;
+};
+
+using ServerPtr = std::shared_ptr<Server>;
+
+}
+}
+
+#endif//__UT_ROBOT_SDK_SERVER_HPP__