36 lines
701 B
C++
36 lines
701 B
C++
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#ifndef __UT_ROBOT_SDK_SERVER_BASE_HPP__
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#define __UT_ROBOT_SDK_SERVER_BASE_HPP__
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#include <unitree/robot/server/server_stub.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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class ServerBase
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{
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public:
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explicit ServerBase(const std::string& name);
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virtual ~ServerBase();
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virtual void Init() = 0;
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virtual void Start(bool enableProiQueue = false);
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const std::string& GetName() const;
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protected:
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virtual void ServerRequestHandler(const RequestPtr& request) = 0;
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void SendResponse(const Response& response);
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protected:
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std::string mName;
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ServerStubPtr mServerStubPtr;
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};
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using ServerBasePtr = std::shared_ptr<ServerBase>;
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}
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}
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#endif//__UT_ROBOT_SDK_SERVER_BASE_HPP__
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