69 lines
1.4 KiB
C++
69 lines
1.4 KiB
C++
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#ifndef __UT_ROBOT_B2_CONFIG_CLIENT_HPP__
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#define __UT_ROBOT_B2_CONFIG_CLIENT_HPP__
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#include <unitree/robot/client/client.hpp>
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#include <unitree/robot/channel/channel_subscriber.hpp>
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#include <unitree/idl/go2/ConfigChangeStatus_.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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namespace b2
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{
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/*
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* @brief ConfigMeta
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*/
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class ConfigMeta
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{
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public:
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ConfigMeta() : size(-1), epoch(-1)
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{}
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~ConfigMeta()
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{}
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public:
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std::string name;
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std::string lastModified;
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int32_t size;
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int32_t epoch;
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};
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/*
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* @brief ConfigClient
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*/
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using ConfigChangeStatusCallback = std::function<void(const std::string&,const std::string&)>;
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class ConfigClient : public Client
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{
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public:
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explicit ConfigClient();
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~ConfigClient();
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void Init();
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int32_t Set(const std::string& name, const std::string& content);
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int32_t Get(const std::string& name, std::string& content);
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int32_t Del(const std::string& name);
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int32_t Meta(const std::string& name, ConfigMeta& meta);
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int32_t Meta(const std::string& name, std::string& meta);
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void SubscribeChangeStatus(const std::string& name, const ConfigChangeStatusCallback& callback);
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private:
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void ChangeStatusMessageHandler(const void* message);
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private:
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unitree::common::Mutex mLock;
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std::map<std::string,ConfigChangeStatusCallback> mNameCallbackMap;
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ChannelSubscriberPtr<unitree_go::msg::dds_::ConfigChangeStatus_> mSubscriberPtr;
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};
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}
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}
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}
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#endif//__UT_ROBOT_B2_CONFIG_CLIENT_HPP__
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