73 lines
2.3 KiB
C++
73 lines
2.3 KiB
C++
#ifndef __UT_ROBOT_SDK_SERVER_HPP__
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#define __UT_ROBOT_SDK_SERVER_HPP__
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#include <unitree/robot/server/server_base.hpp>
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#include <unitree/robot/server/lease_server.hpp>
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#define UT_ROBOT_SERVER_REG_API_HANDLER_NO_LEASE(apiId, handler) \
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UT_ROBOT_SERVER_REG_API_HANDLER(apiId, handler, false)
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#define UT_ROBOT_SERVER_REG_API_BINARY_HANDLER_NO_LEASE(apiId, handler) \
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UT_ROBOT_SERVER_REG_API_BINARY_HANDLER(apiId, handler, false)
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#define UT_ROBOT_SERVER_REG_API_HANDLER(apiId, handler, checkLease) \
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RegistHandler(apiId, std::bind(handler, this, std::placeholders::_1, std::placeholders::_2), checkLease)
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#define UT_ROBOT_SERVER_REG_API_BINARY_HANDLER(apiId, handler, checkLease) \
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RegistBinaryHandler(apiId, std::bind(handler, this, std::placeholders::_1, std::placeholders::_2), checkLease)
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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 RequestHandler = std::function<int32_t(const std::string& parameter, std::string& data)>;
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using BinaryRequestHandler = std::function<int32_t(const std::vector<uint8_t>& parameter, std::vector<uint8_t>& data)>;
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class Server : public ServerBase
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{
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public:
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explicit Server(const std::string& name);
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virtual ~Server();
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virtual void Init() = 0;
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void StartLease(int64_t leaseTerm);
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void StartLease(float leaseTerm);
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const std::string& GetName();
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const std::string& GetApiVersion() const;
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protected:
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void SetApiVersion(const std::string& version);
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void ServerRequestHandler(const RequestPtr& request);
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void RegistHandler(int32_t apiId, const RequestHandler& handler, bool checkLease = false);
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void RegistBinaryHandler(int32_t apiId, const BinaryRequestHandler& binaryHandler, bool checkLease = false);
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bool IsBinary(int32_t apiId);
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RequestHandler GetHandler(int32_t apiId, bool& ignoreLease) const;
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BinaryRequestHandler GetBinaryHandler(int32_t apiId, bool& ignoreLease) const;
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bool CheckLeaseDenied(int64_t leaseId);
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private:
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bool mEnableLease;
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std::string mName;
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std::string mApiVersion;
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std::unordered_map<int32_t,std::pair<RequestHandler,bool>> mApiHandlerMap;
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std::unordered_map<int32_t,std::pair<BinaryRequestHandler,bool>> mApiBinaryHandlerMap;
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std::set<int32_t> mApiBinarySet;
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LeaseServerPtr mLeaseServerPtr;
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};
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using ServerPtr = std::shared_ptr<Server>;
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}
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}
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#endif//__UT_ROBOT_SDK_SERVER_HPP__
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