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