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d1e2d14 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 | from threading import Condition, Lock
from enum import Enum
from ..idl.unitree_api.msg.dds_ import Response_ as Response
from ..utils.future import Future, FutureResult
"""
" class RequestFuture
"""
class RequestFuture(Future):
def __init__(self):
self.__requestId = None
super().__init__()
def SetRequestId(self, requestId: int):
self.__requestId = requestId
def GetRequestId(self):
return self.__requestId
class RequestFutureQueue:
def __init__(self):
self.__data = {}
self.__lock = Lock()
def Set(self, requestId: int, future: RequestFuture):
if future is None:
return False
with self.__lock:
self.__data[requestId] = future
return True
def Get(self, requestId: int):
future = None
with self.__lock:
future = self.__data.get(requestId)
if future is not None:
self.__data.pop(requestId)
return future
def Remove(self, requestId: int):
with self.__lock:
if id in self.__data:
self.__data.pop(requestId) |