97 lines
1.9 KiB
C++
97 lines
1.9 KiB
C++
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#ifndef __UT_SERVICE_BASE_HPP__
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#define __UT_SERVICE_BASE_HPP__
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#include <unitree/common/service/base/service_config.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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class ServiceBase
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{
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public:
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ServiceBase();
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virtual ~ServiceBase();
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virtual void Parse(const std::string& configFileName);
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virtual void Init();
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virtual void Register();
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virtual void Start();
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virtual void Wait();
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virtual void Stop();
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protected:
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/*
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* Get field: ServiceName
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*/
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const std::string& GetServiceName() const;
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const std::string& GetCpuIds() const;
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/*
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* Get top-level field/value
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*/
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const Any& GetGlobalParameter(const std::string& name) const;
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/*
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* Get top-level field: Parameter
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*/
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bool HasParameter(const std::string& name) const;
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/*
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* Get top-level field: Parameter
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*/
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const JsonMap& GetParameter() const;
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/*
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* Get field from top-level field: Parameter
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*/
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const Any& GetParameter(const std::string& name) const;
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/*
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* Get field from top-level field: Parameter
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*/
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template<typename T>
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const T& GetParameter(const std::string& name) const
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{
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return mConfig.GetParameter<T>(name);
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}
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/*
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* Get field from top-level field: Parameter
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*/
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template<typename T>
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T GetNumberParameter(const std::string& name) const
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{
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return mConfig.GetNumberParameter<T>(name);
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}
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/*
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* Get field from top-level field: Parameter
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*/
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template<typename T>
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T GetParameter(const std::string& name, const T& defValue) const
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{
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return mConfig.GetParameter<T>(name, defValue);
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}
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template<typename T>
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T GetNumberParameter(const std::string& name, const T& defValue) const
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{
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return mConfig.GetNumberParameter<T>(name, defValue);
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}
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private:
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ServiceConfig mConfig;
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};
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typedef std::shared_ptr<ServiceBase> ServicePtr;
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}
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}
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#endif//__UT_SERVICE_BASE_HPP__
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