86 lines
1.7 KiB
C++
86 lines
1.7 KiB
C++
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#ifndef __UT_DDS_SERVICE_HPP__
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#define __UT_DDS_SERVICE_HPP__
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#include <unitree/common/service/base/service_base.hpp>
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#include <unitree/common/service/base/service_config.hpp>
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#include <unitree/common/dds/dds_easy_model.hpp>
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namespace unitree
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{
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namespace common
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{
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class DdsService : public ServiceBase
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{
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public:
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DdsService()
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{
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mLogger = GetLogger("/unitree/service/dds_service");
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mQuit = false;
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}
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virtual ~DdsService()
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{}
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virtual void Register()
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{}
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virtual void Init()
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{}
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virtual void Start()
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{}
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virtual void Wait()
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{
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while (!mQuit) { sleep(1); }
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}
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virtual void Stop()
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{
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mQuit = true;
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}
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public:
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void Parse(const std::string& configFileName)
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{
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ServiceBase::Parse(configFileName);
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LOG_INFO(mLogger, "parse config success. filename:", configFileName);
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mModel.Init(AnyCast<JsonMap>(GetGlobalParameter("DdsParameter")));
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LOG_INFO(mLogger, "parse init dds model success.");
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}
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protected:
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template<typename MSG>
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void RegistTopicMessageHandler(const std::string& topic, const DdsMessageHandler& handler)
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{
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mModel.SetTopic<MSG>(topic, handler);
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LOG_INFO(mLogger, "regist topic reader callback. topic:", topic);
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}
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template<typename MSG>
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void RegistTopic(const std::string& topic)
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{
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mModel.SetTopic<MSG>(topic);
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LOG_INFO(mLogger, "regist topic. topic:", topic);
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}
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/*
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* Write message to topic
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*/
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template<typename MSG>
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void WriteMessage(const std::string& topic, const MSG& message)
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{
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mModel.WriteMessage<MSG>(topic, message);
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}
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private:
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bool mQuit;
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DdsEasyModel mModel;
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Logger* mLogger;
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};
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}
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}
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#endif//__UT_DDS_SERVICE_HPP__
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