45 lines
1.1 KiB
C++
45 lines
1.1 KiB
C++
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#ifndef __UT_ROBOT_SDK_SERVER_STUB_HPP__
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#define __UT_ROBOT_SDK_SERVER_STUB_HPP__
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#include <unitree/robot/internal/internal.hpp>
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#include <unitree/robot/channel/channel_labor.hpp>
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#include <unitree/common/thread/thread.hpp>
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#include <unitree/common/block_queue.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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using ServerRequestHandler = std::function<void(const RequestPtr& requestPtr)>;
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class ServerStub
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{
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public:
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explicit ServerStub();
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void Init(const std::string& name, const ServerRequestHandler& handler, bool enableProiQueue);
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bool Send(const Response& response);
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private:
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void Enqueue(const void* message);
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int32_t QueueThreadFunction();
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int32_t ProiQueueThreadFunction();
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private:
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bool mEnableProiQueue;
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ServerRequestHandler mRequestHandler;
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ChannelLaborPtr<Response,Request> mChannelLaborPtr;
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common::BlockQueuePtr<RequestPtr> mQueuePtr;
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common::BlockQueuePtr<RequestPtr> mProiQueuePtr;
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common::ThreadPtr mQueueThreadPtr;
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common::ThreadPtr mProiQueueThreadPtr;
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};
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using ServerStubPtr = std::shared_ptr<ServerStub>;
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}
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}
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#endif//__UT_ROBOT_SDK_SERVER_STUB_HPP__
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