55 lines
1.2 KiB
C++
Executable File
55 lines
1.2 KiB
C++
Executable File
#ifndef _UNITREE_ARM_LOOP_H_
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#define _UNITREE_ARM_LOOP_H_
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#include <stdio.h>
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#include <stdlib.h>
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#include <string.h>
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#include <thread>
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#include <pthread.h>
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#include <vector>
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#include <boost/shared_ptr.hpp>
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#include <boost/function.hpp>
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#include <boost/bind.hpp>
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#include "unitree_arm_sdk/timer.h"
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// constexpr int THREAD_PRIORITY = 99; // real-time priority
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typedef boost::function<void ()> Callback;
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class Loop {
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public:
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Loop(std::string name, float period, int bindCPU = -1);
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~Loop();
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void start();
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void shutdown();
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virtual void functionCB() = 0;
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private:
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void entryFunc();
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std::string _name;
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float _period;
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int _bindCPU;
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bool _bind_cpu_flag = false;
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bool _isrunning = false;
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std::thread _thread;
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size_t _runTimes = 0;
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size_t _timeOutTimes = 0;
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AbsoluteTimer *_timer;
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};
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class LoopFunc : public Loop {
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public:
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LoopFunc(std::string name, float period, const Callback& _cb)
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: Loop(name, period), _fp(_cb){}
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LoopFunc(std::string name, float period, int bindCPU, const Callback& _cb)
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: Loop(name, period, bindCPU), _fp(_cb){}
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void functionCB() { (_fp)(); }
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private:
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boost::function<void ()> _fp;
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};
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#endif // _UNITREE_ARM_LOOP_H_
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