66 lines
1.1 KiB
C++
66 lines
1.1 KiB
C++
#ifndef __UT_ROBOT_SDK_LEASE_CLIENT_H__
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#define __UT_ROBOT_SDK_LEASE_CLIENT_H__
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#include <unitree/robot/client/client_base.hpp>
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#include <unitree/common/thread/recurrent_thread.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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class LeaseContext
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{
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public:
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LeaseContext();
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~LeaseContext();
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void Update(int64_t id, int64_t term);
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void Reset();
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bool Valid() const;
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int64_t GetId() const;
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int64_t GetTerm() const;
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private:
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int64_t mId;
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int64_t mTerm;
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};
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using LeaseContextPtr = std::shared_ptr<LeaseContext>;
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class LeaseClient : public ClientBase
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{
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public:
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explicit LeaseClient(const std::string& name);
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~LeaseClient();
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void Init();
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void WaitApplied();
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int64_t GetId();
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bool Applied();
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private:
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void Apply();
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void Renewal();
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void ThreadFunction();
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int64_t GetWaitMicrosec();
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private:
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std::string mName;
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std::string mContextName;
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LeaseContext mContext;
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common::ThreadPtr mThreadPtr;
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common::Mutex mMutex;
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};
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using LeaseClientPtr = std::shared_ptr<LeaseClient>;
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}
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}
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#endif//__UT_ROBOT_SDK_LEASE_CLIENT_H__
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