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 ;

}