37 lines
777 B
C++
37 lines
777 B
C++
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#ifndef __UT_ROBOT_SDK_CLIENT_STUB_HPP__
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#define __UT_ROBOT_SDK_CLIENT_STUB_HPP__
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#include <unitree/robot/future/request_future.hpp>
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#include <unitree/robot/channel/channel_labor.hpp>
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#include <unitree/common/block_queue.hpp>
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namespace unitree
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{
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namespace robot
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{
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class ClientStub
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{
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public:
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explicit ClientStub();
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~ClientStub();
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void Init(const std::string& name);
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bool Send(const Request& req, int64_t waitTimeout);
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RequestFuturePtr SendRequest(const Request& req, int64_t waitTimeout);
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private:
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void ResponseFunc(const void* message);
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private:
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ChannelLaborPtr<Request,Response> mChannelLaborPtr;
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RequestFutureQueuePtr mFutureQueuePtr;
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};
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using ClientStubPtr = std::shared_ptr<ClientStub>;
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}
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}
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#endif//__UT_ROBOT_SDK_CLIENT_STUB_HPP__
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