63 lines
1.5 KiB
C++
63 lines
1.5 KiB
C++
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#ifndef __UT_ROBOT_SDK_CHANNEL_FACTORY_HPP__
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#define __UT_ROBOT_SDK_CHANNEL_FACTORY_HPP__
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#include <unitree/common/dds/dds_factory_model.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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template<typename MSG>
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using Channel = unitree::common::DdsTopicChannel<MSG>;
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template<typename MSG>
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using ChannelPtr = unitree::common::DdsTopicChannelPtr<MSG>;
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class ChannelFactory
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{
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public:
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static ChannelFactory* Instance()
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{
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static ChannelFactory inst;
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return &inst;
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}
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void Init(int32_t domainId, const std::string& networkInterface = "");
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void Init(const std::string& configFileName = "");
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void Init(const common::JsonMap& jsonMap);
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void Release();
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template<typename MSG>
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ChannelPtr<MSG> CreateSendChannel(const std::string& name)
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{
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ChannelPtr<MSG> channelPtr = mDdsFactoryPtr->CreateTopicChannel<MSG>(name);
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mDdsFactoryPtr->SetWriter(channelPtr);
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return channelPtr;
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}
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template<typename MSG>
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ChannelPtr<MSG> CreateRecvChannel(const std::string& name, std::function<void(const void*)> callback, int32_t queuelen = 0)
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{
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ChannelPtr<MSG> channelPtr = mDdsFactoryPtr->CreateTopicChannel<MSG>(name);
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mDdsFactoryPtr->SetReader(channelPtr, callback, queuelen);
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return channelPtr;
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}
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public:
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~ChannelFactory();
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private:
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ChannelFactory();
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private:
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bool mInited;
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common::DdsFactoryModelPtr mDdsFactoryPtr;
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common::Mutex mMutex;
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};
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}
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}
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#endif//__UT_ROBOT_SDK_CHANNEL_FACTORY_HPP__
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