MOOS学习笔记4——独立线程不同回调

Posted 2020-11-01 静世孔明

MOOS学习笔记4——独立线程不同回调

/**
* @fn 独立线程不同回调
* @version v1.0
* @author
*/

#include "MOOS/libMOOS/Comms/MOOSAsyncCommClient.h"
#include "MOOS/libMOOS/Utils/CommandLineParser.h"
//控制改变字体颜色的类 内部定义了许多颜色
#include "MOOS/libMOOS/Utils/ConsoleColours.h"
#include "MOOS/libMOOS/Utils/ThreadPrint.h"

MOOS::ThreadPrint gPrinter ( std :: cout ) ;

bool OnConnect(void *pParam) {
    CMOOSCommClient *pC = reinterpret_cast<CMOOSCommClient*>(pParam) ;
    pC->Register ( "X", 0.0 ) ;
    pC->Register ( "Y", 0.0 ) ;
    pC->Register ( "Z", 0.0 ) ;
    return true ;
}
bool OnMail (void *pParam){
   CMOOSCommClient *pC = reinterpret_cast<CMOOSCommClient*>(pParam);
   MOOSMSG_LIST M ; // get the mail
   pC->Fetch (M);
   MOOSMSG_LIST::iterator q ; // process it
   for ( q=M.begin () ; q!=M.end () ; q++){
      //Getsource():返回发布通知的进程名称
      //SimplyPrintTimeAndMessage():输出线程安全的格式化信息，第一个参数为要输出的数据
      //第二个参数为颜色，默认为NULL
      gPrinter.SimplyPrintTimeAndMessage ( "mail:"+q->GetSource(), MOOS::ThreadPrint::GREEN) ;
   }
   return true;
}
bool funcX (CMOOSMsg &M , void *TheParameterYouSaidtoPassOnToCallback)
{
   gPrinter.SimplyPrintTimeAndMessage ( "call back for X" , MOOS :: ThreadPrint::CYAN) ;
   return true ;
}
bool funcY ( CMOOSMsg &M , void *TheParameterYouSaidtoPassOnToCallback )
{
   gPrinter.SimplyPrintTimeAndMessage ( "call back for Y" , MOOS::ThreadPrint::MAGENTA) ;
   return true ;
}

int main( int argc , char *argv [] ) {
   // understand the commandline
   MOOS::CommandLineParser P (argc,argv);
   std::string db_host="localhost" ;
   P.GetVariable ( "--moos_host" , db_host);
   int db_port =9000;
   P.GetVariable( "--moos_port" , db_port);
   std::string my_name ="ex40" ;
   P.GetVariable ( "--moos_name" , my_name) ;

   // configure the comms
   MOOS::MOOSAsyncCommClient Comms;
   Comms.SetOnMailCallBack(OnMail ,&Comms) ;
   Comms.SetOnConnectCallBack(OnConnect ,&Comms);

   /**
   * @name AddMessageCallBack()
   * @fn 加入每一条信息的回调函数
   * @param[in]
   *     第一个是该channel的别名
   *     第二个是回调发生时想要传递的变量
   * @note 使用该函数调用该函数指定的，不使用该函数则调用默认的Onmail()
   */
   Comms.AddMessageCallBack("callback_X","X",funcX,NULL) ;
   Comms.AddMessageCallBack("callback_Y","Y",funcY,NULL) ;

   // start the comms running
   Comms . Run(db_host , db_port , my_name) ;
   // forever loop sending data
   std :: vector<unsigned char>X(1000) ;
   for ( ; ; ) {
      MOOSPause (1000) ;
      Comms.Notify ( "X",X) ; // for callback_X
      Comms.Notify ( "Y","This is Y"); // for callback_Y
      Comms.Notify ( "Z",7.0); //no callback
   }
   return 0 ;
}