init

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

@@ -0,0 +1,35 @@
+#ifndef __UT_ROBOT_SDK_SERVER_BASE_HPP__
+#define __UT_ROBOT_SDK_SERVER_BASE_HPP__
+
+#include <unitree/robot/server/server_stub.hpp>
+
+namespace unitree
+{
+namespace robot
+{
+class ServerBase
+{
+public:
+    explicit ServerBase(const std::string& name);
+    virtual ~ServerBase();
+
+    virtual void Init() = 0;
+    virtual void Start(bool enableProiQueue = false);
+
+    const std::string& GetName() const;
+
+protected:
+    virtual void ServerRequestHandler(const RequestPtr& request) = 0;
+    void SendResponse(const Response& response);
+
+protected:
+    std::string mName;
+    ServerStubPtr mServerStubPtr;
+};
+
+using ServerBasePtr = std::shared_ptr<ServerBase>;
+
+}
+}
+
+#endif//__UT_ROBOT_SDK_SERVER_BASE_HPP__