init

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

@@ -0,0 +1,46 @@
+#ifndef __UT_ROBOT_SDK_SERVER_STUB_HPP__
+#define __UT_ROBOT_SDK_SERVER_STUB_HPP__
+
+#include <unitree/robot/internal/internal.hpp>
+#include <unitree/robot/channel/channel_labor.hpp>
+#include <unitree/common/thread/thread.hpp>
+#include <unitree/common/block_queue.hpp>
+
+namespace unitree
+{
+namespace robot
+{
+using ServerRequestHandler = std::function<void(const RequestPtr& requestPtr)>;
+
+class ServerStub
+{
+public:
+    explicit ServerStub();
+    ~ServerStub();
+
+    void Init(const std::string& name, const ServerRequestHandler& handler, bool enableProiQueue);
+    bool Send(const Response& response, int64_t timeout = 0);
+
+private:
+    void Enqueue(const void* message);
+
+    int32_t QueueThreadFunction();
+    int32_t ProiQueueThreadFunction();
+
+private:
+    bool mEnableProiQueue;
+    bool mRunning;
+    ServerRequestHandler mRequestHandler;
+    ChannelLaborPtr<Response,Request> mChannelLaborPtr;
+    common::BlockQueuePtr<RequestPtr> mQueuePtr;
+    common::BlockQueuePtr<RequestPtr> mProiQueuePtr;
+    common::ThreadPtr mQueueThreadPtr;
+    common::ThreadPtr mProiQueueThreadPtr;
+};
+
+using ServerStubPtr = std::shared_ptr<ServerStub>;
+
+}
+}
+
+#endif//__UT_ROBOT_SDK_SERVER_STUB_HPP__