cpp对齐官方

include/unitree_legged_sdk/loop.h

@@ -0,0 +1,48 @@
+#ifndef GO1_PRO_UNITREE_LEGGED_LOOP_H_
+#define GO1_PRO_UNITREE_LEGGED_LOOP_H_
+
+#include <atomic>
+#include <boost/function.hpp>
+#include <string>
+#include <thread>
+
+namespace UNITREE_LEGGED_SDK {
+
+constexpr int THREAD_PRIORITY = 95;
+typedef boost::function<void()> Callback;
+
+class Loop {
+ public:
+  Loop(std::string name, float period, int bindCPU = -1)
+      : _name(name), _period(period), _bindCPU(bindCPU) {}
+  virtual ~Loop();
+  void start();
+  void shutdown();
+  virtual void functionCB() = 0;
+
+ private:
+  void entryFunc();
+  std::string _name;
+  float _period;
+  int _bindCPU;
+  bool _bind_cpu_flag = false;
+  bool _isrunning = false;
+  std::atomic<bool> _running_atomic{false};
+  std::thread _thread;
+};
+
+class LoopFunc : public Loop {
+ public:
+  LoopFunc(std::string name, float period, const Callback& cb)
+      : Loop(name, period), _fp(cb) {}
+  LoopFunc(std::string name, float period, int bindCPU, const Callback& cb)
+      : Loop(name, period, bindCPU), _fp(cb) {}
+  void functionCB() override { _fp(); }
+
+ private:
+  boost::function<void()> _fp;
+};
+
+}  // namespace UNITREE_LEGGED_SDK
+
+#endif