65 lines
1.4 KiB
C++
65 lines
1.4 KiB
C++
#ifndef __UT_ROBOT_SDK_CHANNEL_NAMER_HPP__
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#define __UT_ROBOT_SDK_CHANNEL_NAMER_HPP__
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#include <unitree/common/decl.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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const std::string ROBOT_SDK_CHANNEL_PREFIX = "rt/api/";
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const std::string ROBOT_SDK_CHANNEL_SUFFIX_CLIENT = "/request";
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const std::string ROBOT_SDK_CHANNEL_SUFFIX_SERVER = "/response";
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/*
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* @brief
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* @class: ChannelNamer
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*/
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class ChannelNamer
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{
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public:
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virtual std::string GetSendChannelName(const std::string& name) = 0;
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virtual std::string GetRecvChannelName(const std::string& name) = 0;
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};
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using ChannelNamerPtr = std::shared_ptr<ChannelNamer>;
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/*
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* @brief
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* @class: ClientChannelNamer
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*/
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class ClientChannelNamer : public ChannelNamer
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{
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public:
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ClientChannelNamer();
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~ClientChannelNamer();
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protected:
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std::string GetSendChannelName(const std::string& name);
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std::string GetRecvChannelName(const std::string& name);
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};
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using ClientChannelNamerPtr = std::shared_ptr<ClientChannelNamer>;
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/*
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* @brief
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* @class: ServerChannelNamer
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*/
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class ServerChannelNamer : public ChannelNamer
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{
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public:
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ServerChannelNamer();
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virtual ~ServerChannelNamer();
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protected:
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std::string GetSendChannelName(const std::string& name);
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std::string GetRecvChannelName(const std::string& name);
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};
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using ServerChannelNamerPtr = std::shared_ptr<ServerChannelNamer>;
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}
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}
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#endif//__UT_ROBOT_SDK_CHANNEL_NAMER_HPP__
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