MOOS学习笔记2——HelloWorld回调

Posted 2020-11-01 静世孔明

MOOS学习笔记2——HelloWorld回调

例程

#include "MOOS/libMOOS/Comms/MOOSAsyncCommClient.h"

bool  OnConnect(void* pParam){
CMOOSCommClient  *pC=reinterpret_cast<CMOOSCommClient*>(pParam);
pC->Register("Greeting",0.0);
return true;
}

//用于SetOnmailCallBack()初始化，作为回调
//邮件一来就调用该函数
bool Onmail(void * pParam){
   CMOOSCommClient *pC=reinterpret_cast<CMOOSCommClient*>(pParam);
   MOOSMSG_LIST M;
   pC->Fetch(M);
   MOOSMSG_LIST::iterator q;
   for(q=M.begin();q!=M.end();q++){
      q->Trace();
   }
   return true;
}

int main(int argc,char *argv[]){
    MOOS::MOOSAsyncCommClient Comms;
    //设置用户提供的邮件到来的回调函数，不常用，一般在用户线程取邮件
    Comms.SetOnMailCallBack(Onmail,&Comms);
    Comms.SetOnConnectCallBack(OnConnect,&Comms);
    Comms.Run("localhost",9000,"EX20");
    for(;;){
      MOOSPause(1000);
      Comms.Notify("Greeting","Hello");
    }
    return 0;
}