83 lines
2.5 KiB
C++
83 lines
2.5 KiB
C++
// Copyright (c) 2025, Unitree Robotics Co., Ltd.
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// All rights reserved.
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#pragma once
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#include <unitree/robot/channel/channel_subscriber.hpp>
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#include <mutex>
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#include <thread>
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namespace unitree
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{
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namespace robot
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{
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/**
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* @brief Base class for convenient subscription to topics.
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* This class provides an easy-to-use interface for subscribing to topics,
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* but the continuous background updates may increase CPU usage.
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*
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* @tparam MessageType The type of message being subscribed to.
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*/
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template <typename MessageType>
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class SubscriptionBase
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{
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public:
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using MsgType = MessageType;
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using SharedPtr = std::shared_ptr<SubscriptionBase<MsgType>>;
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SubscriptionBase(const std::string& topic, const std::function<void(const void*)>& handler = nullptr)
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{
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last_update_time_ = std::chrono::steady_clock::now() - std::chrono::milliseconds(timeout_ms_);
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sub_ = std::make_shared<unitree::robot::ChannelSubscriber<MessageType>>(topic);
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if (handler) {
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sub_->InitChannel(handler);
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} else {
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sub_->InitChannel([this](const void *msg){
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last_update_time_ = std::chrono::steady_clock::now();
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std::lock_guard<std::mutex> lock(mutex_);
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pre_communication();
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msg_ = *(const MessageType*)msg;
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post_communication();
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});
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}
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}
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void set_timeout_ms(uint32_t timeout_ms) { timeout_ms_ = timeout_ms; }
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bool isTimeout() {
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auto now = std::chrono::steady_clock::now();
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auto elasped_time = now - last_update_time_;
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return elasped_time > std::chrono::milliseconds(timeout_ms_);
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}
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void wait_for_connection() {
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auto t0 = std::chrono::steady_clock::now();
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bool warn_info = false;
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while(isTimeout()) {
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std::this_thread::sleep_for(std::chrono::milliseconds(100));
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if (!warn_info && std::chrono::steady_clock::now() - t0 > std::chrono::seconds(2)) {
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warn_info = true;
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std::cout << "Waiting for connection " << sub_->GetChannelName() << std::endl;
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}
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}
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std::this_thread::sleep_for(std::chrono::milliseconds(100)); // wait for stable communicaiton
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if (warn_info) {
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std::cout << "Connected " << sub_->GetChannelName() << std::endl;
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}
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}
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MessageType msg_;
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std::mutex mutex_;
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protected:
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virtual void pre_communication() {} // something before receiving message
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virtual void post_communication() {} // something after receiving message
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uint32_t timeout_ms_{1000};
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unitree::robot::ChannelSubscriberPtr<MessageType> sub_;
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std::chrono::steady_clock::time_point last_update_time_;
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};
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}; // namespace robot
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}; // namespace unitree
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