网络

package parse

dispatch

network monitor

web socket

int execute_condition(执行条件，按位表示)int cnt(计数器，计数执行间隔)int execute_priod(执行周期)int execute_cnt(执行次数)std::future(执行的返回结果)std::functor<void()> func_(执行函数)bool check(){     return future.xxx()}void execute(){     if(execute_condition)         func_()}

request handlers

server request

outer node

network middleware

network task manager

timing task

transfer middleware

wifi monitor

http

robot request

ros handler

task decesion

task

network transfer

once task

network handler配网完成断网

Task

package encode