97 lines
2.2 KiB
C++
97 lines
2.2 KiB
C++
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#ifndef __UT_DDS_TOPIC_CHANNEL_HPP__
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#define __UT_DDS_TOPIC_CHANNEL_HPP__
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#include <unitree/common/dds/dds_entity.hpp>
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namespace unitree
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{
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namespace common
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{
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/*
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* @brief: DdsTopicChannelAbstract
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*/
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class DdsTopicChannelAbstract
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{
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public:
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virtual bool Write(const void* message, int64_t waitMicrosec) = 0;
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virtual int64_t GetLastDataAvailableTime() const = 0;
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};
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using DdsTopicChannelAbstractPtr = std::shared_ptr<DdsTopicChannelAbstract>;
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#define UT_DDS_WAIT_MATCHED_TIME_MICRO_SEC 100000
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/*
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* @brief: DdsTopicChannel
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*/
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template<typename MSG>
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class DdsTopicChannel : public DdsTopicChannelAbstract
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{
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public:
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explicit DdsTopicChannel()
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{}
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~DdsTopicChannel()
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{}
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void SetTopic(const DdsParticipantPtr& participant, const std::string& name, const DdsTopicQos& qos)
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{
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mTopic = DdsTopicPtr<MSG>(new DdsTopic<MSG>(participant, name, qos));
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}
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void SetWriter(const DdsPublisherPtr& publisher, const DdsWriterQos& qos)
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{
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mWriter = DdsWriterPtr<MSG>(new DdsWriter<MSG>(publisher, mTopic, qos));
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MicroSleep(UT_DDS_WAIT_MATCHED_TIME_MICRO_SEC);
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}
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void SetReader(const DdsSubscriberPtr& subscriber, const DdsReaderQos& qos, const DdsReaderCallback& cb, int32_t queuelen)
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{
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mReader = DdsReaderPtr<MSG>(new DdsReader<MSG>(subscriber, mTopic, qos));
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mReader->SetListener(cb, queuelen);
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}
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DdsWriterPtr<MSG> GetWriter() const
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{
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return mWriter;
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}
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DdsReaderPtr<MSG> GetReader() const
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{
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return mReader;
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}
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bool Write(const void* message, int64_t waitMicrosec)
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{
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return Write(*(const MSG*)message, waitMicrosec);
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}
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bool Write(const MSG& message, int64_t waitMicrosec)
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{
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return mWriter->Write(message, waitMicrosec);
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}
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int64_t GetLastDataAvailableTime() const
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{
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if (mReader)
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{
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return mReader->GetLastDataAvailableTime();
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}
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return 0;
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}
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private:
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DdsTopicPtr<MSG> mTopic;
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DdsWriterPtr<MSG> mWriter;
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DdsReaderPtr<MSG> mReader;
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};
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template<typename MSG>
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using DdsTopicChannelPtr = std::shared_ptr<DdsTopicChannel<MSG>>;
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}
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}
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#endif//__UT_DDS_TOPIC_CHANNEL_HPP__
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