MOOS学习笔记——多线程

/*

* A simple example showing how to use a comms client

*/

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

#include "MOOS/libMOOS/Utils/CommandLineParser.h"

#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 ) ;

    retu rn true ;

}

bool OnMail (void ∗pParam){

CMOOSCommClient *pC = reinterpret _ cast<CMOOSCommClient∗>(pParam );

MOOSMSG_LIST M ; // get the mail

pC−>Fetch (M);

MOOSMSG_LIST : : iterator q ; // p r o c e s s i t

for ( q=M.begin () ; q!=M.end () ; q++){

gPrinter . SimplyPrintTimeAndMessage ( " mail : "+q−>GetSource ( ) , MOOS:: -

ThreadPrint : : GREEN ) ;

}

r etu rn t ru e ;

}

bool funcX ( CMOOSMsg & M , void ∗ TheParameterYouSaidtoPassOnToCallback )

{

gPrinter . SimplyPrintTimeAndMessage ( " c a l l back f o r X" , MOOS : : ThreadPrint : : -

CYAN ) ;

r etu rn t ru e ;

}

bool funcY ( CMOOSMsg & M , void ∗ TheParameterYouSaidtoPassOnToCallback )

{

gPrinter . SimplyPrintTimeAndMessage ( " c a l l back f o r Y" , MOOS : : ThreadPrint : : -

MAGENTA ) ;

r etu rn t ru e ;

}

i n t main ( int argc , char ∗ argv [] ) {

// unde r stand the command l i n e

MOOS : : CommandLineParser P ( argc , argv ) ;

std : : string db_host=" l o c a l h o s t " ;

P . GetVariable ( "−−moos_host" , db_host ) ;

i n t db_port =9000;

P . GetVariable ( "−−moos_port" , db_port ) ;

std : : string my_name =" ex40 " ;

P . GetVariable ( "−−moos_name" , my_name ) ;

// c o n f i g u r e the comms

MOOS : : MOOSAsyncCommClient Comms ;

Comms . SetOnMailCallBack ( OnMail ,&Comms ) ;

Comms . SetOnConnectCallBack ( OnConnect ,&Comms ) ;

// here we add per message c a l l b a c k s

// fi r s t parameter i s the channel nick−name , then the f u n c t i o n

// to c a l l , then a parameter we want passed when c a l l b a c k i s

// invoked

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 ) ;

// f o r ever loop sending data

std : : vector<unsigned char> X (1000) ;

f o r ( ; ; ) {

MOOSPause (10) ;

Comms.Notify ( "X",X) ; // for callback_X

Comms.Notify ( "Y","This is Y"); // f o r callback_Y

Comms.Notify ( "Z",7.0); //no callb a c k

}

return 0 ;

}