76 lines
1.7 KiB
C++
76 lines
1.7 KiB
C++
#ifndef __UT_ROBOT_SDK_CHANNEL_SUBSCRIBER_HPP__
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#define __UT_ROBOT_SDK_CHANNEL_SUBSCRIBER_HPP__
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#include <unitree/robot/channel/channel_factory.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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class ChannelSubscriber
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{
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public:
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explicit ChannelSubscriber(const std::string& channelName) :
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mChannelName(channelName), mQueueLen(0)
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{}
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explicit ChannelSubscriber(const std::string& channelName, const std::function<void(const void*)>& handler, int64_t queuelen = 0) :
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mChannelName(channelName), mQueueLen(queuelen), mHandler(handler)
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{}
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void InitChannel(const std::function<void(const void*)>& handler, int64_t queuelen = 0)
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{
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mHandler = handler;
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mQueueLen = queuelen;
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InitChannel();
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}
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void InitChannel()
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{
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if (mHandler)
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{
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mChannelPtr = ChannelFactory::Instance()->CreateRecvChannel<MSG>(mChannelName, mHandler, mQueueLen);
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}
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else
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{
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UT_THROW(common::CommonException, "subscribe handler is invalid");
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}
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}
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void CloseChannel()
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{
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mChannelPtr.reset();
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}
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int64_t GetLastDataAvailableTime() const
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{
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if (mChannelPtr)
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{
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return mChannelPtr->GetLastDataAvailableTime();
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}
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return -1;
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}
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const std::string& GetChannelName() const
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{
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return mChannelName;
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}
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private:
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std::string mChannelName;
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int64_t mQueueLen;
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std::function<void(const void*)> mHandler;
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ChannelPtr<MSG> mChannelPtr;
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};
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template<typename MSG>
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using ChannelSubscriberPtr = std::shared_ptr<ChannelSubscriber<MSG>>;
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}
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}
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#endif//__UT_ROBOT_SDK_CHANNEL_SUBSCRIBER_HPP__
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