fix #30

toppers · Mar 8, 2024 · 657d1f6 · 657d1f6
1 parent efe120f
commit 657d1f6
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Showing 3 changed files with 26 additions and 0 deletions.
diff --git a/src/hako/hako_asset_impl.cpp b/src/hako/hako_asset_impl.cpp
@@ -183,6 +183,27 @@ bool hako::HakoAssetControllerImpl::read_pdu(const std::string& asset_name, cons
         return this->master_data_->get_pdu_data()->read_pdu(asset->id, channel_id, pdu_data, len);
     }
 }
+bool hako::HakoAssetControllerImpl::write_pdu_nolock(const std::string& robo_name, HakoPduChannelIdType channel_id, const char *pdu_data, size_t len)
+{
+    HakoPduChannelIdType real_id = this->master_data_->get_pdu_data()->get_pdu_channel(robo_name, channel_id);
+    if (real_id >= 0) {
+        return this->master_data_->get_pdu_data()->write_pdu_nolock(real_id, pdu_data, len);
+    }
+    else {
+        return false;
+    }
+}
+
+bool hako::HakoAssetControllerImpl::read_pdu_nolock(const std::string& robo_name, HakoPduChannelIdType channel_id, char *pdu_data, size_t len)
+{
+    HakoPduChannelIdType real_id = this->master_data_->get_pdu_data()->get_pdu_channel(robo_name, channel_id);
+    if (real_id >= 0) {
+        return this->master_data_->get_pdu_data()->read_pdu_nolock(real_id, pdu_data, len);
+    }
+    else {
+        return false;
+    }
+}
 
 void hako::HakoAssetControllerImpl::notify_read_pdu_done(const std::string& asset_name)
 {

diff --git a/src/hako/hako_asset_impl.hpp b/src/hako/hako_asset_impl.hpp
@@ -48,6 +48,9 @@ namespace hako {
         bool is_simulation_mode();
         bool is_pdu_created();
 
+        bool write_pdu_nolock(const std::string& robo_name, HakoPduChannelIdType channel_id, const char *pdu_data, size_t len);
+        bool read_pdu_nolock(const std::string& robo_name, HakoPduChannelIdType channel_id, char *pdu_data, size_t len);
+
     private:
         HakoAssetControllerImpl() {}
         bool feedback(const std::string& asset_name, bool isOk, HakoSimulationStateType exp_state);

diff --git a/src/include/hako_asset.hpp b/src/include/hako_asset.hpp
@@ -43,6 +43,8 @@ namespace hako {
         virtual bool is_simulation_mode() = 0;
         virtual bool is_pdu_created() = 0;
 
+        virtual bool write_pdu_nolock(const std::string& robo_name, HakoPduChannelIdType channel_id, const char *pdu_data, size_t len) = 0;
+        virtual bool read_pdu_nolock(const std::string& robo_name, HakoPduChannelIdType channel_id, char *pdu_data, size_t len) = 0;
         //TODO
         //get asset lists