51 lines
1.2 KiB
C++
51 lines
1.2 KiB
C++
|
#ifndef __UT_ROBOT_SDK_CLIENT_BASE_HPP__
|
||
|
|
#define __UT_ROBOT_SDK_CLIENT_BASE_HPP__
|
||
|
|
|
||
|
|
#include <unitree/robot/client/client_stub.hpp>
|
||
|
|
|
||
|
|
namespace unitree
|
||
|
|
{
|
||
|
|
namespace robot
|
||
|
|
{
|
||
|
|
/*
|
||
|
|
* @brief
|
||
|
|
* @default client timeout. 1s
|
||
|
|
*/
|
||
|
|
const int64_t ROBOT_CLIENT_TIMEOUT = 1000000;
|
||
|
|
|
||
|
|
/*
|
||
|
|
* @brief
|
||
|
|
* @class: ClientBase
|
||
|
|
*/
|
||
|
|
class ClientBase
|
||
|
|
{
|
||
|
|
public:
|
||
|
|
explicit ClientBase(const std::string& name);
|
||
|
|
virtual ~ClientBase();
|
||
|
|
|
||
|
|
virtual void Init() = 0;
|
||
|
|
|
||
|
|
void SetTimeout(int64_t timeout);
|
||
|
|
void SetTimeout(float timeout);
|
||
|
|
|
||
|
|
protected:
|
||
|
|
int32_t Call(int32_t apiId, const std::string& parameter, std::string& data, int32_t proirity, int64_t leaseId);
|
||
|
|
int32_t Call(int32_t apiId, const std::string& parameter, int32_t priority, int64_t leaseId);
|
||
|
|
|
||
|
|
int32_t Call(int32_t apiId, const std::vector<uint8_t>& parameter, std::vector<uint8_t>& bin_data, int32_t proirity, int64_t leaseId);
|
||
|
|
int32_t Call(int32_t apiId, const std::vector<uint8_t>& parameter, int32_t priority, int64_t leaseId);
|
||
|
|
|
||
|
|
void SetHeader(RequestHeader& header, int32_t apiId, int64_t leaseId, int32_t priority, bool noReply);
|
||
|
|
|
||
|
|
private:
|
||
|
|
int64_t mTimeout;
|
||
|
|
ClientStubPtr mClientStubPtr;
|
||
|
|
};
|
||
|
|
|
||
|
|
using ClientBasePtr = std::shared_ptr<ClientBase>;
|
||
|
|
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
#endif//__UT_ROBOT_SDK_CLIENT_BASE_HPP__
|