1. 分离Core和MqttDds。
baocm
8 months ago
parent
1fd0a4562d
commit
8e289d3246
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// Copyright 2016 Proyectos y Sistemas de Mantenimiento SL (eProsima).
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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/*!
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* @file Publisher.cxx
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* This file contains the implementation of the publisher functions.
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*
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* This file was generated by the tool fastddsgen.
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*/
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#include "Publisher.hpp"
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#include <condition_variable>
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#include <csignal>
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#include <stdexcept>
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#include <thread>
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#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
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#include <fastdds/dds/log/Log.hpp>
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#include <fastdds/dds/publisher/DataWriter.hpp>
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#include <fastdds/dds/publisher/Publisher.hpp>
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#include <fastdds/dds/publisher/qos/DataWriterQos.hpp>
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#include <fastdds/dds/publisher/qos/PublisherQos.hpp>
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#include "SystemPubSubTypes.hpp"
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#include "json.hpp"
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#include "msg.hpp"
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using namespace eprosima::fastdds::dds;
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using json = nlohmann::json;
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PublisherApp::PublisherApp(
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const int& domain_id)
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: factory_(nullptr)
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, participant_(nullptr)
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, publisher_(nullptr)
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, bar_topic_(nullptr)
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, bar_writer_(nullptr)
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, bar_type_(new WeighingSystem::BarCommandUpdatePubSubType())
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, light_topic_(nullptr)
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, light_writer_(nullptr)
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, light_type_(new WeighingSystem::LightsCommandUpdatePubSubType())
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, summary_topic_(nullptr)
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, summary_writer_(nullptr)
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, summary_type_(new WeighingSystem::SummaryUpdatePubSubType())
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, print_topic_(nullptr)
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, print_writer_(nullptr)
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, print_type_(new InternalSystem::PrintReqPubSubType())
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, matched_(0)
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, samples_sent_(0)
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, stop_(false)
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{
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//
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// Create the participant
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DomainParticipantQos pqos = PARTICIPANT_QOS_DEFAULT;
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pqos.name("Core_pub_participant");
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pqos.wire_protocol().builtin.discovery_config.leaseDuration = Duration_t(60, 0);
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pqos.wire_protocol().builtin.discovery_config.leaseDuration_announcementperiod = Duration_t(30, 0);
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factory_ = DomainParticipantFactory::get_shared_instance();
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participant_ = factory_->create_participant(domain_id, pqos, nullptr, StatusMask::none());
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if (participant_ == nullptr)
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{
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throw std::runtime_error("Core Participant initialization failed");
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}
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// Register the type
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bar_type_.register_type(participant_);
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light_type_.register_type(participant_);
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summary_type_.register_type(participant_);
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print_type_.register_type(participant_);
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// Create the publisher
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PublisherQos pub_qos = PUBLISHER_QOS_DEFAULT;
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participant_->get_default_publisher_qos(pub_qos);
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publisher_ = participant_->create_publisher(pub_qos, nullptr, StatusMask::none());
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if (publisher_ == nullptr)
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{
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throw std::runtime_error("Core Publisher initialization failed");
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}
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// Create the topic
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TopicQos topic_qos = TOPIC_QOS_DEFAULT;
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participant_->get_default_topic_qos(topic_qos);
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bar_topic_ = participant_->create_topic("BarCommandUpdate", bar_type_.get_type_name(), topic_qos);
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if (bar_topic_ == nullptr)
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{
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throw std::runtime_error("BarCommandUpdate Topic initialization failed");
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}
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// Create the data writer
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DataWriterQos writer_qos = DATAWRITER_QOS_DEFAULT;
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publisher_->get_default_datawriter_qos(writer_qos);
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writer_qos.reliability().kind = ReliabilityQosPolicyKind::RELIABLE_RELIABILITY_QOS;
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writer_qos.reliability().max_blocking_time = Duration_t(1, 0);
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writer_qos.durability().kind = DurabilityQosPolicyKind::VOLATILE_DURABILITY_QOS;
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writer_qos.history().kind = HistoryQosPolicyKind::KEEP_LAST_HISTORY_QOS;
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writer_qos.history().depth = 1;
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writer_qos.resource_limits().max_samples = 200;
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writer_qos.resource_limits().max_instances = 1;
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writer_qos.resource_limits().max_samples_per_instance = 100;
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writer_qos.data_sharing().off();
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bar_writer_ = publisher_->create_datawriter(bar_topic_, writer_qos, this, StatusMask::all());
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if (bar_writer_ == nullptr)
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{
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throw std::runtime_error("WeighingSystem::BarUpdate DataWriter initialization failed");
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}
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// Create the topic
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topic_qos = TOPIC_QOS_DEFAULT;
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participant_->get_default_topic_qos(topic_qos);
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light_topic_ = participant_->create_topic("LightsCommandUpdate", light_type_.get_type_name(), topic_qos);
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if (light_topic_ == nullptr)
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{
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throw std::runtime_error("LightsCommandUpdate Topic initialization failed");
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}
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// Create the data writer
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writer_qos = DATAWRITER_QOS_DEFAULT;
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publisher_->get_default_datawriter_qos(writer_qos);
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writer_qos.reliability().kind = ReliabilityQosPolicyKind::RELIABLE_RELIABILITY_QOS;
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writer_qos.reliability().max_blocking_time = Duration_t(1, 0);
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writer_qos.durability().kind = DurabilityQosPolicyKind::VOLATILE_DURABILITY_QOS;
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writer_qos.history().kind = HistoryQosPolicyKind::KEEP_LAST_HISTORY_QOS;
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writer_qos.history().depth = 1;
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writer_qos.resource_limits().max_samples = 200;
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writer_qos.resource_limits().max_instances = 1;
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writer_qos.resource_limits().max_samples_per_instance = 100;
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writer_qos.data_sharing().off();
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light_writer_ = publisher_->create_datawriter(light_topic_, writer_qos, this, StatusMask::all());
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if (light_writer_ == nullptr)
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{
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throw std::runtime_error("WeighingSystem::LightsUpdate DataWriter initialization failed");
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}
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// Create the topic
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topic_qos = TOPIC_QOS_DEFAULT;
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participant_->get_default_topic_qos(topic_qos);
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summary_topic_ = participant_->create_topic("SummaryUpdate", summary_type_.get_type_name(), topic_qos);
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if (summary_topic_ == nullptr)
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{
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throw std::runtime_error("SummaryUpdate Topic initialization failed");
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}
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// Create the data writer
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writer_qos = DATAWRITER_QOS_DEFAULT;
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publisher_->get_default_datawriter_qos(writer_qos);
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writer_qos.reliability().kind = ReliabilityQosPolicyKind::RELIABLE_RELIABILITY_QOS;
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writer_qos.reliability().max_blocking_time = Duration_t(1, 0);
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writer_qos.durability().kind = DurabilityQosPolicyKind::TRANSIENT_LOCAL_DURABILITY_QOS;
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writer_qos.history().kind = HistoryQosPolicyKind::KEEP_LAST_HISTORY_QOS;
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writer_qos.history().depth = 1;
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writer_qos.resource_limits().max_samples = 200;
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writer_qos.resource_limits().max_instances = 1;
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writer_qos.resource_limits().max_samples_per_instance = 100;
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writer_qos.data_sharing().off();
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summary_writer_ = publisher_->create_datawriter(summary_topic_, writer_qos, this, StatusMask::all());
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if (summary_writer_ == nullptr)
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{
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throw std::runtime_error("WeighingSystem::SummaryUpdate DataWriter initialization failed");
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}
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// Create the topic
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topic_qos = TOPIC_QOS_DEFAULT;
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participant_->get_default_topic_qos(topic_qos);
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print_topic_ = participant_->create_topic("PrintReq", print_type_.get_type_name(), topic_qos);
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if (print_topic_ == nullptr)
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{
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throw std::runtime_error("PrintReq Topic initialization failed");
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}
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// Create the data writer
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writer_qos = DATAWRITER_QOS_DEFAULT;
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publisher_->get_default_datawriter_qos(writer_qos);
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writer_qos.reliability().kind = ReliabilityQosPolicyKind::RELIABLE_RELIABILITY_QOS;
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writer_qos.reliability().max_blocking_time = Duration_t(1, 0);
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writer_qos.durability().kind = DurabilityQosPolicyKind::VOLATILE_DURABILITY_QOS;
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writer_qos.history().kind = HistoryQosPolicyKind::KEEP_LAST_HISTORY_QOS;
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writer_qos.history().depth = 1;
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writer_qos.resource_limits().max_samples = 200;
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writer_qos.resource_limits().max_instances = 1;
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writer_qos.resource_limits().max_samples_per_instance = 100;
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writer_qos.data_sharing().off();
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print_writer_ = publisher_->create_datawriter(print_topic_, writer_qos, this, StatusMask::all());
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if (print_writer_ == nullptr)
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{
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throw std::runtime_error("InternalSystem::PrintReq DataWriter initialization failed");
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}
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}
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PublisherApp::~PublisherApp()
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{
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if (nullptr != participant_)
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{
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// Delete DDS entities contained within the DomainParticipant
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participant_->delete_contained_entities();
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// Delete DomainParticipant
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factory_->delete_participant(participant_);
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}
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}
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void PublisherApp::on_publication_matched(
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DataWriter* writer,
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const PublicationMatchedStatus& info)
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{
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if (info.current_count_change == 1)
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{
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{
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std::lock_guard<std::mutex> lock(mutex_);
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matched_ = info.current_count;
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}
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std::cout << writer->get_topic()->get_name() << " Publisher matched." << std::endl;
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cv_.notify_one();
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}
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else if (info.current_count_change == -1)
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{
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{
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std::lock_guard<std::mutex> lock(mutex_);
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matched_ = info.current_count;
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}
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std::cout << writer->get_topic()->get_name() << " Publisher unmatched." << std::endl;
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}
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else
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{
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std::cout << info.current_count_change
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<< " is not a valid value for PublicationMatchedStatus current count change" << std::endl;
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}
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}
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bool PublisherApp::bar_ctrl(const std::map<std::string, std::string>& ctrl)
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{
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WeighingSystem::BarCommandUpdate cmd;
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for (const auto &[port, opt] : ctrl)
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{
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if (port == "FrontBar")
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{
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if (opt == "up")
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{
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cmd.FrontBarSignalUp() = 1;
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cmd.FrontBarSignalDown() = 0;
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}
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else
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{
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cmd.FrontBarSignalUp() = 0;
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cmd.FrontBarSignalDown() = 1;
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}
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cmd.FrontBarEnable() = 1;
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}
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else if (port == "BackBar")
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{
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if (opt == "up")
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{
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cmd.BackBarSignalUp() = 1;
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cmd.BackBarSignalDown() = 0;
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}
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else
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{
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cmd.BackBarSignalUp() = 0;
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cmd.BackBarSignalDown() = 1;
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}
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cmd.BackBarEnable() = 1;
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}
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}
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std::cout << "send bar ctrl cmd" << std::endl;
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bar_writer_->write(&cmd);
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return true;
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}
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bool PublisherApp::light_ctrl(const std::map<std::string, std::string>& ctrl)
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{
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WeighingSystem::LightsCommandUpdate cmd;
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for (const auto &[port, opt] : ctrl)
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{
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if (port == "FrontLED")
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{
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if (opt == "red")
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{
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cmd.FrontLEDSignal() = 1;
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}
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else
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{
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cmd.FrontLEDSignal() = 2;
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}
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cmd.FrontLEDEnable() = 1;
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}
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else if (port == "BackLED")
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{
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if (opt == "red")
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{
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cmd.BackLEDSignal() = 1;
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}
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else
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{
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cmd.BackLEDSignal() = 2;
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}
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cmd.BackLEDEnable() = 1;
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}
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}
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std::cout << "send light ctrl cmd" << std::endl;
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light_writer_->write(&cmd);
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return true;
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}
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bool PublisherApp::print_receipt(const std::map<std::string, std::string>& msg)
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{
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InternalSystem::PrintReq req;
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req.msg() = msg;
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for (auto &m : req.msg())
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{
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std::cout << "first: " << m.first << " second: " << m.second << std::endl;
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}
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print_writer_->write(&req);
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return true;
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}
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void PublisherApp::run(std::shared_ptr<mqtt::async_client> dev)
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{
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while (!is_stopped())
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{
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//dds msg
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std::unique_lock<std::mutex> dds_lock(DdsMsgData::queue_cv_mtx_, std::try_to_lock);
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if (dds_lock.owns_lock())
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{
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if (!DdsMsgData::LicenseSnapUpdate_queue_.empty())
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{
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WeighingSystem::LicenseSnapUpdate info = std::move(DdsMsgData::LicenseSnapUpdate_queue_.front());
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DdsMsgData::LicenseSnapUpdate_queue_.pop();
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dds_lock.unlock();
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// std::cout << "车牌: " << info.License() << std::endl;
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// std::cout << "类型: " << info.NewTag() << std::endl;
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}
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else if (!DdsMsgData::ScaleInfo_queue_.empty())
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{
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WeighingSystem::ScaleInfo info = std::move(DdsMsgData::ScaleInfo_queue_.front());
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DdsMsgData::ScaleInfo_queue_.pop();
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dds_lock.unlock();
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// std::cout << "有车: " << info.HasVehicle() << std::endl;
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// std::cout << "稳定: " << info.WeightOK() << std::endl;
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// std::cout << "设备状态: " << info.State() << std::endl;
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// std::cout << "实时重量: " << info.Value() << std::endl;
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// std::cout << "稳定重量: " << info.StableValue() << std::endl;
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}
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|
else if (!DdsMsgData::BarUpdate_queue_.empty())
|
||||||
|
{
|
||||||
|
WeighingSystem::BarUpdate info = std::move(DdsMsgData::BarUpdate_queue_.front());
|
||||||
|
DdsMsgData::BarUpdate_queue_.pop();
|
||||||
|
dds_lock.unlock();
|
||||||
|
|
||||||
|
// std::cout << "前拦车器状态: " << info.FrontBarState() << std::endl;
|
||||||
|
// std::cout << "后拦车器状态: " << info.BackBarState() << std::endl;
|
||||||
|
|
||||||
|
if (dev != nullptr)
|
||||||
|
{
|
||||||
|
if (dev->is_connected())
|
||||||
|
{
|
||||||
|
json j;
|
||||||
|
j["bar_state"]["FrontBar"] = info.FrontBarState();
|
||||||
|
j["bar_state"]["BackBar"] = info.BackBarState();
|
||||||
|
|
||||||
|
auto mqtt_msg = mqtt::make_message("response", j.dump());
|
||||||
|
mqtt_msg->set_qos(0);
|
||||||
|
mqtt_msg->set_retained(false);
|
||||||
|
dev->publish(mqtt_msg);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
else if (!DdsMsgData::LightsUpdate_queue_.empty())
|
||||||
|
{
|
||||||
|
WeighingSystem::LightsUpdate info = std::move(DdsMsgData::LightsUpdate_queue_.front());
|
||||||
|
DdsMsgData::LightsUpdate_queue_.pop();
|
||||||
|
dds_lock.unlock();
|
||||||
|
|
||||||
|
// std::cout << "前红绿灯状态: " << info.FrontLEDState() << std::endl;
|
||||||
|
// std::cout << "后红绿灯状态: " << info.BackLEDState() << std::endl;
|
||||||
|
|
||||||
|
if (dev != nullptr)
|
||||||
|
{
|
||||||
|
if (dev->is_connected())
|
||||||
|
{
|
||||||
|
json j;
|
||||||
|
j["light_state"]["FrontLED"] = info.FrontLEDState();
|
||||||
|
j["light_state"]["BackLED"] = info.FrontLEDState();
|
||||||
|
|
||||||
|
auto mqtt_msg = mqtt::make_message("response", j.dump());
|
||||||
|
mqtt_msg->set_qos(0);
|
||||||
|
mqtt_msg->set_retained(false);
|
||||||
|
dev->publish(mqtt_msg);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
else if (!DdsMsgData::InfraredUpdate_queue_.empty())
|
||||||
|
{
|
||||||
|
WeighingSystem::InfraredUpdate info = std::move(DdsMsgData::InfraredUpdate_queue_.front());
|
||||||
|
DdsMsgData::InfraredUpdate_queue_.pop();
|
||||||
|
dds_lock.unlock();
|
||||||
|
|
||||||
|
// std::cout << "前红外对射状态: " << info.FrontResistanceSignal() << std::endl;
|
||||||
|
// std::cout << "后红外对射状态: " << info.BackResistanceSignal() << std::endl;
|
||||||
|
|
||||||
|
if (dev != nullptr)
|
||||||
|
{
|
||||||
|
if (dev->is_connected())
|
||||||
|
{
|
||||||
|
json j;
|
||||||
|
j["infrared_state"]["FrontResistance"] = info.FrontResistanceSignal();
|
||||||
|
j["infrared_state"]["BackResistance"] = info.BackResistanceSignal();
|
||||||
|
|
||||||
|
auto mqtt_msg = mqtt::make_message("response", j.dump());
|
||||||
|
mqtt_msg->set_qos(0);
|
||||||
|
mqtt_msg->set_retained(false);
|
||||||
|
dev->publish(mqtt_msg);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
dds_lock.unlock();
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
// mqtt msg
|
||||||
|
std::unique_lock<std::mutex> mqtt_lock(MqttMsgData::queue_cv_mtx_, std::try_to_lock);
|
||||||
|
if (mqtt_lock.owns_lock())
|
||||||
|
{
|
||||||
|
if (!MqttMsgData::Mqtt_msg_queue_.empty())
|
||||||
|
{
|
||||||
|
mqtt::const_message_ptr msg = std::move(MqttMsgData::Mqtt_msg_queue_.front());
|
||||||
|
MqttMsgData::Mqtt_msg_queue_.pop();
|
||||||
|
mqtt_lock.unlock();
|
||||||
|
|
||||||
|
json cmd = json::parse(msg->to_string());
|
||||||
|
|
||||||
|
if (cmd.contains("bar_ctrl"))
|
||||||
|
{
|
||||||
|
std::map<std::string, std::string> ctrl = cmd["bar_ctrl"].get<std::map<std::string, std::string>>();
|
||||||
|
bar_ctrl(ctrl);
|
||||||
|
}
|
||||||
|
else if (cmd.contains("light_ctrl"))
|
||||||
|
{
|
||||||
|
std::map<std::string, std::string> ctrl = cmd["light_ctrl"].get<std::map<std::string, std::string>>();
|
||||||
|
light_ctrl(ctrl);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
mqtt_lock.unlock();
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
// Wait for period or stop event
|
||||||
|
std::unique_lock<std::mutex> period_lock(mutex_);
|
||||||
|
cv_.wait_for(period_lock, std::chrono::milliseconds(period_ms_), [this]()
|
||||||
|
{
|
||||||
|
return is_stopped();
|
||||||
|
});
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
bool PublisherApp::publish()
|
||||||
|
{
|
||||||
|
bool ret = false;
|
||||||
|
// Wait for the data endpoints discovery
|
||||||
|
std::unique_lock<std::mutex> matched_lock(mutex_);
|
||||||
|
cv_.wait(matched_lock, [&]()
|
||||||
|
{
|
||||||
|
// at least one has been discovered
|
||||||
|
return ((matched_ > 0) || is_stopped());
|
||||||
|
});
|
||||||
|
|
||||||
|
if (!is_stopped())
|
||||||
|
{
|
||||||
|
/* Initialize your structure here */
|
||||||
|
WeighingSystem::BarCommandUpdate sample_;
|
||||||
|
ret = (RETCODE_OK == bar_writer_->write(&sample_));
|
||||||
|
}
|
||||||
|
return ret;
|
||||||
|
}
|
||||||
|
|
||||||
|
bool PublisherApp::is_stopped()
|
||||||
|
{
|
||||||
|
return stop_.load();
|
||||||
|
}
|
||||||
|
|
||||||
|
void PublisherApp::stop()
|
||||||
|
{
|
||||||
|
stop_.store(true);
|
||||||
|
cv_.notify_one();
|
||||||
|
}
|
||||||
@ -0,0 +1,89 @@
|
|||||||
|
// Copyright 2016 Proyectos y Sistemas de Mantenimiento SL (eProsima).
|
||||||
|
//
|
||||||
|
// Licensed under the Apache License, Version 2.0 (the "License");
|
||||||
|
// you may not use this file except in compliance with the License.
|
||||||
|
// You may obtain a copy of the License at
|
||||||
|
//
|
||||||
|
// http://www.apache.org/licenses/LICENSE-2.0
|
||||||
|
//
|
||||||
|
// Unless required by applicable law or agreed to in writing, software
|
||||||
|
// distributed under the License is distributed on an "AS IS" BASIS,
|
||||||
|
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||||
|
// See the License for the specific language governing permissions and
|
||||||
|
// limitations under the License.
|
||||||
|
|
||||||
|
/*!
|
||||||
|
* @file PublisherApp.hpp
|
||||||
|
* This header file contains the declaration of the publisher functions.
|
||||||
|
*
|
||||||
|
* This file was generated by the tool fastddsgen.
|
||||||
|
*/
|
||||||
|
|
||||||
|
#ifndef FAST_DDS_GENERATED__PUBLISHERAPP_HPP
|
||||||
|
#define FAST_DDS_GENERATED__PUBLISHERAPP_HPP
|
||||||
|
|
||||||
|
#include <condition_variable>
|
||||||
|
|
||||||
|
#include <fastdds/dds/domain/DomainParticipant.hpp>
|
||||||
|
#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
|
||||||
|
#include <fastdds/dds/publisher/DataWriterListener.hpp>
|
||||||
|
#include <fastdds/dds/topic/TypeSupport.hpp>
|
||||||
|
|
||||||
|
#include "mqtt/async_client.h"
|
||||||
|
|
||||||
|
class PublisherApp : public eprosima::fastdds::dds::DataWriterListener
|
||||||
|
{
|
||||||
|
public:
|
||||||
|
|
||||||
|
PublisherApp(
|
||||||
|
const int& domain_id);
|
||||||
|
|
||||||
|
~PublisherApp();
|
||||||
|
|
||||||
|
//! Publisher matched method
|
||||||
|
void on_publication_matched(
|
||||||
|
eprosima::fastdds::dds::DataWriter* writer,
|
||||||
|
const eprosima::fastdds::dds::PublicationMatchedStatus& info) override;
|
||||||
|
|
||||||
|
//! Run publisher
|
||||||
|
void run(std::shared_ptr<mqtt::async_client> dev);
|
||||||
|
|
||||||
|
//! Trigger the end of execution
|
||||||
|
void stop();
|
||||||
|
|
||||||
|
bool bar_ctrl(const std::map<std::string, std::string>& ctrl);
|
||||||
|
bool light_ctrl(const std::map<std::string, std::string>& ctrl);
|
||||||
|
bool print_receipt(const std::map<std::string, std::string>& msg);
|
||||||
|
|
||||||
|
private:
|
||||||
|
|
||||||
|
//! Return the current state of execution
|
||||||
|
bool is_stopped();
|
||||||
|
|
||||||
|
//! Publish a sample
|
||||||
|
bool publish();
|
||||||
|
|
||||||
|
std::shared_ptr<eprosima::fastdds::dds::DomainParticipantFactory> factory_;
|
||||||
|
eprosima::fastdds::dds::DomainParticipant* participant_;
|
||||||
|
eprosima::fastdds::dds::Publisher* publisher_;
|
||||||
|
eprosima::fastdds::dds::Topic* bar_topic_;
|
||||||
|
eprosima::fastdds::dds::DataWriter* bar_writer_;
|
||||||
|
eprosima::fastdds::dds::TypeSupport bar_type_;
|
||||||
|
eprosima::fastdds::dds::Topic* light_topic_;
|
||||||
|
eprosima::fastdds::dds::DataWriter* light_writer_;
|
||||||
|
eprosima::fastdds::dds::TypeSupport light_type_;
|
||||||
|
eprosima::fastdds::dds::Topic* summary_topic_;
|
||||||
|
eprosima::fastdds::dds::DataWriter* summary_writer_;
|
||||||
|
eprosima::fastdds::dds::TypeSupport summary_type_;
|
||||||
|
eprosima::fastdds::dds::Topic* print_topic_;
|
||||||
|
eprosima::fastdds::dds::DataWriter* print_writer_;
|
||||||
|
eprosima::fastdds::dds::TypeSupport print_type_;
|
||||||
|
std::condition_variable cv_;
|
||||||
|
int32_t matched_;
|
||||||
|
std::mutex mutex_;
|
||||||
|
const uint32_t period_ms_ = 100; // in ms
|
||||||
|
uint16_t samples_sent_;
|
||||||
|
std::atomic<bool> stop_;
|
||||||
|
};
|
||||||
|
|
||||||
|
#endif // FAST_DDS_GENERATED__PUBLISHERAPP_HPP
|
||||||
@ -0,0 +1,409 @@
|
|||||||
|
// Copyright 2016 Proyectos y Sistemas de Mantenimiento SL (eProsima).
|
||||||
|
//
|
||||||
|
// Licensed under the Apache License, Version 2.0 (the "License");
|
||||||
|
// you may not use this file except in compliance with the License.
|
||||||
|
// You may obtain a copy of the License at
|
||||||
|
//
|
||||||
|
// http://www.apache.org/licenses/LICENSE-2.0
|
||||||
|
//
|
||||||
|
// Unless required by applicable law or agreed to in writing, software
|
||||||
|
// distributed under the License is distributed on an "AS IS" BASIS,
|
||||||
|
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||||
|
// See the License for the specific language governing permissions and
|
||||||
|
// limitations under the License.
|
||||||
|
|
||||||
|
/*!
|
||||||
|
* @file Subscriber.cxx
|
||||||
|
* This file contains the implementation of the subscriber functions.
|
||||||
|
*
|
||||||
|
* This file was generated by the tool fastddsgen.
|
||||||
|
*/
|
||||||
|
|
||||||
|
#include "Subscriber.hpp"
|
||||||
|
|
||||||
|
#include <condition_variable>
|
||||||
|
#include <stdexcept>
|
||||||
|
|
||||||
|
#include <fastdds/dds/core/status/SubscriptionMatchedStatus.hpp>
|
||||||
|
#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
|
||||||
|
#include <fastdds/dds/subscriber/DataReader.hpp>
|
||||||
|
#include <fastdds/dds/subscriber/qos/DataReaderQos.hpp>
|
||||||
|
#include <fastdds/dds/subscriber/qos/SubscriberQos.hpp>
|
||||||
|
#include <fastdds/dds/subscriber/SampleInfo.hpp>
|
||||||
|
#include <fastdds/dds/subscriber/Subscriber.hpp>
|
||||||
|
|
||||||
|
#include "SystemPubSubTypes.hpp"
|
||||||
|
|
||||||
|
#include "msg.hpp"
|
||||||
|
|
||||||
|
using namespace eprosima::fastdds::dds;
|
||||||
|
|
||||||
|
SubscriberApp::SubscriberApp(
|
||||||
|
const int& domain_id)
|
||||||
|
: factory_(nullptr)
|
||||||
|
, participant_(nullptr)
|
||||||
|
, subscriber_(nullptr)
|
||||||
|
, bar_topic_(nullptr)
|
||||||
|
, bar_reader_(nullptr)
|
||||||
|
, bar_type_(new WeighingSystem::BarUpdatePubSubType())
|
||||||
|
, light_topic_(nullptr)
|
||||||
|
, light_reader_(nullptr)
|
||||||
|
, light_type_(new WeighingSystem::LightsUpdatePubSubType())
|
||||||
|
, infraredinfo_topic_(nullptr)
|
||||||
|
, infraredinfo_reader_(nullptr)
|
||||||
|
, infraredinfo_type_(new WeighingSystem::InfraredUpdatePubSubType())
|
||||||
|
, infraredcommand_topic_(nullptr)
|
||||||
|
, infraredcommand_reader_(nullptr)
|
||||||
|
, infraredcommand_type_(new WeighingSystem::InfraredCommandUpdatePubSubType())
|
||||||
|
, license_topic_(nullptr)
|
||||||
|
, license_reader_(nullptr)
|
||||||
|
, license_type_(new WeighingSystem::LicenseSnapUpdatePubSubType())
|
||||||
|
, scaleinfo_topic_(nullptr)
|
||||||
|
, scaleinfo_reader_(nullptr)
|
||||||
|
, scaleinfo_type_(new WeighingSystem::ScaleInfoPubSubType())
|
||||||
|
, samples_received_(0)
|
||||||
|
, stop_(false)
|
||||||
|
{
|
||||||
|
// Create the participant
|
||||||
|
DomainParticipantQos pqos = PARTICIPANT_QOS_DEFAULT;
|
||||||
|
pqos.name("WeighingSystem_sub_participant");
|
||||||
|
pqos.wire_protocol().builtin.discovery_config.leaseDuration = Duration_t(60, 0);
|
||||||
|
pqos.wire_protocol().builtin.discovery_config.leaseDuration_announcementperiod = Duration_t(30, 0);
|
||||||
|
factory_ = DomainParticipantFactory::get_shared_instance();
|
||||||
|
participant_ = factory_->create_participant(domain_id, pqos, nullptr, StatusMask::none());
|
||||||
|
if (participant_ == nullptr)
|
||||||
|
{
|
||||||
|
throw std::runtime_error("WeighingSystem Participant initialization failed");
|
||||||
|
}
|
||||||
|
|
||||||
|
// Register the type
|
||||||
|
bar_type_.register_type(participant_);
|
||||||
|
light_type_.register_type(participant_);
|
||||||
|
infraredinfo_type_.register_type(participant_);
|
||||||
|
infraredcommand_type_.register_type(participant_);
|
||||||
|
license_type_.register_type(participant_);
|
||||||
|
scaleinfo_type_.register_type(participant_);
|
||||||
|
|
||||||
|
// Create the subscriber
|
||||||
|
SubscriberQos sub_qos = SUBSCRIBER_QOS_DEFAULT;
|
||||||
|
participant_->get_default_subscriber_qos(sub_qos);
|
||||||
|
subscriber_ = participant_->create_subscriber(sub_qos, nullptr, StatusMask::none());
|
||||||
|
if (subscriber_ == nullptr)
|
||||||
|
{
|
||||||
|
throw std::runtime_error("WeighingSystem Subscriber initialization failed");
|
||||||
|
}
|
||||||
|
|
||||||
|
// Create the topic
|
||||||
|
TopicQos topic_qos = TOPIC_QOS_DEFAULT;
|
||||||
|
participant_->get_default_topic_qos(topic_qos);
|
||||||
|
bar_topic_ = participant_->create_topic("BarUpdate", bar_type_.get_type_name(), topic_qos);
|
||||||
|
if (bar_topic_ == nullptr)
|
||||||
|
{
|
||||||
|
throw std::runtime_error("WeighingSystem::BarUpdate Topic initialization failed");
|
||||||
|
}
|
||||||
|
|
||||||
|
// Create the reader
|
||||||
|
DataReaderQos reader_qos = DATAREADER_QOS_DEFAULT;
|
||||||
|
subscriber_->get_default_datareader_qos(reader_qos);
|
||||||
|
reader_qos.reliability().kind = ReliabilityQosPolicyKind::RELIABLE_RELIABILITY_QOS;
|
||||||
|
reader_qos.reliability().max_blocking_time = Duration_t(1, 0);
|
||||||
|
reader_qos.durability().kind = DurabilityQosPolicyKind::TRANSIENT_LOCAL_DURABILITY_QOS;
|
||||||
|
reader_qos.history().kind = HistoryQosPolicyKind::KEEP_LAST_HISTORY_QOS;
|
||||||
|
reader_qos.history().depth = 1;
|
||||||
|
reader_qos.resource_limits().max_samples = 200;
|
||||||
|
reader_qos.resource_limits().max_instances = 1;
|
||||||
|
reader_qos.resource_limits().max_samples_per_instance = 100;
|
||||||
|
reader_qos.data_sharing().off();
|
||||||
|
bar_reader_ = subscriber_->create_datareader(bar_topic_, reader_qos, this, StatusMask::all());
|
||||||
|
if (bar_reader_ == nullptr)
|
||||||
|
{
|
||||||
|
throw std::runtime_error("WeighingSystem::BarUpdate DataReader initialization failed");
|
||||||
|
}
|
||||||
|
|
||||||
|
// Create the topic
|
||||||
|
topic_qos = TOPIC_QOS_DEFAULT;
|
||||||
|
participant_->get_default_topic_qos(topic_qos);
|
||||||
|
light_topic_ = participant_->create_topic("LightsUpdate", light_type_.get_type_name(), topic_qos);
|
||||||
|
if (light_topic_ == nullptr)
|
||||||
|
{
|
||||||
|
throw std::runtime_error("WeighingSystem::LightsUpdate Topic initialization failed");
|
||||||
|
}
|
||||||
|
|
||||||
|
// Create the reader
|
||||||
|
reader_qos = DATAREADER_QOS_DEFAULT;
|
||||||
|
subscriber_->get_default_datareader_qos(reader_qos);
|
||||||
|
reader_qos.reliability().kind = ReliabilityQosPolicyKind::RELIABLE_RELIABILITY_QOS;
|
||||||
|
reader_qos.reliability().max_blocking_time = Duration_t(1, 0);
|
||||||
|
reader_qos.durability().kind = DurabilityQosPolicyKind::TRANSIENT_LOCAL_DURABILITY_QOS;
|
||||||
|
reader_qos.history().kind = HistoryQosPolicyKind::KEEP_LAST_HISTORY_QOS;
|
||||||
|
reader_qos.history().depth = 1;
|
||||||
|
reader_qos.resource_limits().max_samples = 200;
|
||||||
|
reader_qos.resource_limits().max_instances = 1;
|
||||||
|
reader_qos.resource_limits().max_samples_per_instance = 100;
|
||||||
|
reader_qos.data_sharing().off();
|
||||||
|
light_reader_ = subscriber_->create_datareader(light_topic_, reader_qos, this, StatusMask::all());
|
||||||
|
if (light_reader_ == nullptr)
|
||||||
|
{
|
||||||
|
throw std::runtime_error("WeighingSystem::LightsUpdate DataReader initialization failed");
|
||||||
|
}
|
||||||
|
|
||||||
|
// Create the topic
|
||||||
|
topic_qos = TOPIC_QOS_DEFAULT;
|
||||||
|
participant_->get_default_topic_qos(topic_qos);
|
||||||
|
infraredinfo_topic_ = participant_->create_topic("InfraredUpdate", infraredinfo_type_.get_type_name(), topic_qos);
|
||||||
|
if (infraredinfo_topic_ == nullptr)
|
||||||
|
{
|
||||||
|
throw std::runtime_error("WeighingSystem::InfraredUpdate Topic initialization failed");
|
||||||
|
}
|
||||||
|
|
||||||
|
// Create the reader
|
||||||
|
reader_qos = DATAREADER_QOS_DEFAULT;
|
||||||
|
subscriber_->get_default_datareader_qos(reader_qos);
|
||||||
|
reader_qos.reliability().kind = ReliabilityQosPolicyKind::RELIABLE_RELIABILITY_QOS;
|
||||||
|
reader_qos.reliability().max_blocking_time = Duration_t(1, 0);
|
||||||
|
reader_qos.durability().kind = DurabilityQosPolicyKind::TRANSIENT_LOCAL_DURABILITY_QOS;
|
||||||
|
reader_qos.history().kind = HistoryQosPolicyKind::KEEP_LAST_HISTORY_QOS;
|
||||||
|
reader_qos.history().depth = 1;
|
||||||
|
reader_qos.resource_limits().max_samples = 200;
|
||||||
|
reader_qos.resource_limits().max_instances = 1;
|
||||||
|
reader_qos.resource_limits().max_samples_per_instance = 100;
|
||||||
|
reader_qos.data_sharing().off();
|
||||||
|
infraredinfo_reader_ = subscriber_->create_datareader(infraredinfo_topic_, reader_qos, this, StatusMask::all());
|
||||||
|
if (infraredinfo_reader_ == nullptr)
|
||||||
|
{
|
||||||
|
throw std::runtime_error("WeighingSystem::InfraredUpdate DataReader initialization failed");
|
||||||
|
}
|
||||||
|
|
||||||
|
// Create the topic
|
||||||
|
topic_qos = TOPIC_QOS_DEFAULT;
|
||||||
|
participant_->get_default_topic_qos(topic_qos);
|
||||||
|
infraredcommand_topic_ = participant_->create_topic("InfraredCommandUpdate", infraredcommand_type_.get_type_name(), topic_qos);
|
||||||
|
if (infraredcommand_topic_ == nullptr)
|
||||||
|
{
|
||||||
|
throw std::runtime_error("WeighingSystem::InfraredCommandUpdate Topic initialization failed");
|
||||||
|
}
|
||||||
|
|
||||||
|
// Create the reader
|
||||||
|
reader_qos = DATAREADER_QOS_DEFAULT;
|
||||||
|
subscriber_->get_default_datareader_qos(reader_qos);
|
||||||
|
reader_qos.reliability().kind = ReliabilityQosPolicyKind::RELIABLE_RELIABILITY_QOS;
|
||||||
|
reader_qos.reliability().max_blocking_time = Duration_t(1, 0);
|
||||||
|
reader_qos.durability().kind = DurabilityQosPolicyKind::TRANSIENT_LOCAL_DURABILITY_QOS;
|
||||||
|
reader_qos.history().kind = HistoryQosPolicyKind::KEEP_LAST_HISTORY_QOS;
|
||||||
|
reader_qos.history().depth = 1;
|
||||||
|
reader_qos.resource_limits().max_samples = 200;
|
||||||
|
reader_qos.resource_limits().max_instances = 1;
|
||||||
|
reader_qos.resource_limits().max_samples_per_instance = 100;
|
||||||
|
reader_qos.data_sharing().off();
|
||||||
|
infraredcommand_reader_ = subscriber_->create_datareader(infraredcommand_topic_, reader_qos, this, StatusMask::all());
|
||||||
|
if (infraredcommand_reader_ == nullptr)
|
||||||
|
{
|
||||||
|
throw std::runtime_error("WeighingSystem::InfraredCommandUpdate DataReader initialization failed");
|
||||||
|
}
|
||||||
|
|
||||||
|
// Create the topic
|
||||||
|
topic_qos = TOPIC_QOS_DEFAULT;
|
||||||
|
participant_->get_default_topic_qos(topic_qos);
|
||||||
|
license_topic_ = participant_->create_topic("LicenseSnapUpdate", license_type_.get_type_name(), topic_qos);
|
||||||
|
if (license_topic_ == nullptr)
|
||||||
|
{
|
||||||
|
throw std::runtime_error("WeighingSystem::LicenseSnapUpdate Topic initialization failed");
|
||||||
|
}
|
||||||
|
|
||||||
|
// Create the reader
|
||||||
|
reader_qos = DATAREADER_QOS_DEFAULT;
|
||||||
|
subscriber_->get_default_datareader_qos(reader_qos);
|
||||||
|
reader_qos.reliability().kind = ReliabilityQosPolicyKind::RELIABLE_RELIABILITY_QOS;
|
||||||
|
reader_qos.reliability().max_blocking_time = Duration_t(1, 0);
|
||||||
|
reader_qos.durability().kind = DurabilityQosPolicyKind::VOLATILE_DURABILITY_QOS;
|
||||||
|
reader_qos.history().kind = HistoryQosPolicyKind::KEEP_LAST_HISTORY_QOS;
|
||||||
|
reader_qos.history().depth = 1;
|
||||||
|
reader_qos.resource_limits().max_samples = 200;
|
||||||
|
reader_qos.resource_limits().max_instances = 1;
|
||||||
|
reader_qos.resource_limits().max_samples_per_instance = 100;
|
||||||
|
reader_qos.data_sharing().off();
|
||||||
|
license_reader_ = subscriber_->create_datareader(license_topic_, reader_qos, this, StatusMask::all());
|
||||||
|
if (license_reader_ == nullptr)
|
||||||
|
{
|
||||||
|
throw std::runtime_error("WeighingSystem::LicenseSnapUpdate DataReader initialization failed");
|
||||||
|
}
|
||||||
|
|
||||||
|
// Create the topic
|
||||||
|
topic_qos = TOPIC_QOS_DEFAULT;
|
||||||
|
participant_->get_default_topic_qos(topic_qos);
|
||||||
|
scaleinfo_topic_ = participant_->create_topic("ScaleInfo", scaleinfo_type_.get_type_name(), topic_qos);
|
||||||
|
if (scaleinfo_topic_ == nullptr)
|
||||||
|
{
|
||||||
|
throw std::runtime_error("WeighingSystem::ScaleInfo Topic initialization failed");
|
||||||
|
}
|
||||||
|
|
||||||
|
// Create the reader
|
||||||
|
reader_qos = DATAREADER_QOS_DEFAULT;
|
||||||
|
subscriber_->get_default_datareader_qos(reader_qos);
|
||||||
|
reader_qos.reliability().kind = ReliabilityQosPolicyKind::RELIABLE_RELIABILITY_QOS;
|
||||||
|
reader_qos.reliability().max_blocking_time = Duration_t(1, 0);
|
||||||
|
reader_qos.durability().kind = DurabilityQosPolicyKind::VOLATILE_DURABILITY_QOS;
|
||||||
|
reader_qos.history().kind = HistoryQosPolicyKind::KEEP_LAST_HISTORY_QOS;
|
||||||
|
reader_qos.history().depth = 1;
|
||||||
|
reader_qos.resource_limits().max_samples = 200;
|
||||||
|
reader_qos.resource_limits().max_instances = 1;
|
||||||
|
reader_qos.resource_limits().max_samples_per_instance = 100;
|
||||||
|
reader_qos.data_sharing().off();
|
||||||
|
scaleinfo_reader_ = subscriber_->create_datareader(scaleinfo_topic_, reader_qos, this, StatusMask::all());
|
||||||
|
if (scaleinfo_reader_ == nullptr)
|
||||||
|
{
|
||||||
|
throw std::runtime_error("WeighingSystem::ScaleInfo DataReader initialization failed");
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
SubscriberApp::~SubscriberApp()
|
||||||
|
{
|
||||||
|
if (nullptr != participant_)
|
||||||
|
{
|
||||||
|
// Delete DDS entities contained within the DomainParticipant
|
||||||
|
participant_->delete_contained_entities();
|
||||||
|
|
||||||
|
// Delete DomainParticipant
|
||||||
|
factory_->delete_participant(participant_);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
void SubscriberApp::on_subscription_matched(
|
||||||
|
DataReader* reader,
|
||||||
|
const SubscriptionMatchedStatus& info)
|
||||||
|
{
|
||||||
|
if (info.current_count_change == 1)
|
||||||
|
{
|
||||||
|
std::cout << reader->get_topicdescription()->get_name() << " Subscriber matched." << std::endl;
|
||||||
|
}
|
||||||
|
else if (info.current_count_change == -1)
|
||||||
|
{
|
||||||
|
std::cout << reader->get_topicdescription()->get_name() << " Subscriber unmatched." << std::endl;
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
std::cout << info.current_count_change
|
||||||
|
<< " is not a valid value for SubscriptionMatchedStatus current count change" << std::endl;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
void SubscriberApp::on_data_available(
|
||||||
|
DataReader* reader)
|
||||||
|
{
|
||||||
|
SampleInfo info;
|
||||||
|
std::string topic_name = reader->get_topicdescription()->get_name();
|
||||||
|
std::cout << topic_name << std::endl;
|
||||||
|
|
||||||
|
if (topic_name == "BarUpdate")
|
||||||
|
{
|
||||||
|
WeighingSystem::BarUpdate sample_;
|
||||||
|
while ((!is_stopped()) && (RETCODE_OK == reader->take_next_sample(&sample_, &info)))
|
||||||
|
{
|
||||||
|
if ((info.instance_state == ALIVE_INSTANCE_STATE) && info.valid_data)
|
||||||
|
{
|
||||||
|
{
|
||||||
|
std::unique_lock<std::mutex> lock(DdsMsgData::queue_cv_mtx_);
|
||||||
|
DdsMsgData::BarUpdate_queue_.push(std::move(sample_));
|
||||||
|
lock.unlock();
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
else if (topic_name == "LightsUpdate")
|
||||||
|
{
|
||||||
|
WeighingSystem::LightsUpdate sample_;
|
||||||
|
while ((!is_stopped()) && (RETCODE_OK == reader->take_next_sample(&sample_, &info)))
|
||||||
|
{
|
||||||
|
if ((info.instance_state == ALIVE_INSTANCE_STATE) && info.valid_data)
|
||||||
|
{
|
||||||
|
{
|
||||||
|
std::unique_lock<std::mutex> lock(DdsMsgData::queue_cv_mtx_);
|
||||||
|
DdsMsgData::LightsUpdate_queue_.push(std::move(sample_));
|
||||||
|
lock.unlock();
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
else if (topic_name == "InfraredUpdate")
|
||||||
|
{
|
||||||
|
WeighingSystem::InfraredUpdate sample_;
|
||||||
|
while ((!is_stopped()) && (RETCODE_OK == reader->take_next_sample(&sample_, &info)))
|
||||||
|
{
|
||||||
|
if ((info.instance_state == ALIVE_INSTANCE_STATE) && info.valid_data)
|
||||||
|
{
|
||||||
|
{
|
||||||
|
std::unique_lock<std::mutex> lock(DdsMsgData::queue_cv_mtx_);
|
||||||
|
DdsMsgData::InfraredUpdate_queue_.push(std::move(sample_));
|
||||||
|
lock.unlock();
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
else if (topic_name == "InfraredCommandUpdate")
|
||||||
|
{
|
||||||
|
WeighingSystem::InfraredCommandUpdate sample_;
|
||||||
|
while ((!is_stopped()) && (RETCODE_OK == reader->take_next_sample(&sample_, &info)))
|
||||||
|
{
|
||||||
|
if ((info.instance_state == ALIVE_INSTANCE_STATE) && info.valid_data)
|
||||||
|
{
|
||||||
|
{
|
||||||
|
std::unique_lock<std::mutex> lock(DdsMsgData::queue_cv_mtx_);
|
||||||
|
DdsMsgData::InfraredCommandUpdate_queue_.push(std::move(sample_));
|
||||||
|
lock.unlock();
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
else if (topic_name == "LicenseSnapUpdate")
|
||||||
|
{
|
||||||
|
WeighingSystem::LicenseSnapUpdate sample_;
|
||||||
|
while ((!is_stopped()) && (RETCODE_OK == reader->take_next_sample(&sample_, &info)))
|
||||||
|
{
|
||||||
|
if ((info.instance_state == ALIVE_INSTANCE_STATE) && info.valid_data)
|
||||||
|
{
|
||||||
|
{
|
||||||
|
std::unique_lock<std::mutex> lock(DdsMsgData::queue_cv_mtx_);
|
||||||
|
DdsMsgData::LicenseSnapUpdate_queue_.push(std::move(sample_));
|
||||||
|
lock.unlock();
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
else if (topic_name == "ScaleInfo")
|
||||||
|
{
|
||||||
|
WeighingSystem::ScaleInfo sample_;
|
||||||
|
while ((!is_stopped()) && (RETCODE_OK == reader->take_next_sample(&sample_, &info)))
|
||||||
|
{
|
||||||
|
if ((info.instance_state == ALIVE_INSTANCE_STATE) && info.valid_data)
|
||||||
|
{
|
||||||
|
{
|
||||||
|
std::unique_lock<std::mutex> lock(DdsMsgData::queue_cv_mtx_);
|
||||||
|
DdsMsgData::ScaleInfo_queue_.push(std::move(sample_));
|
||||||
|
lock.unlock();
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
void SubscriberApp::run(std::shared_ptr<mqtt::async_client> dev)
|
||||||
|
{
|
||||||
|
while (!is_stopped())
|
||||||
|
{
|
||||||
|
{
|
||||||
|
std::unique_lock<std::mutex> period_lock(terminate_cv_mtx_);
|
||||||
|
terminate_cv_.wait_for(period_lock, std::chrono::milliseconds(period_ms_), [this](){return is_stopped();});
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
bool SubscriberApp::is_stopped()
|
||||||
|
{
|
||||||
|
return stop_.load();
|
||||||
|
}
|
||||||
|
|
||||||
|
void SubscriberApp::stop()
|
||||||
|
{
|
||||||
|
stop_.store(true);
|
||||||
|
terminate_cv_.notify_all();
|
||||||
|
}
|
||||||
@ -0,0 +1,98 @@
|
|||||||
|
// Copyright 2016 Proyectos y Sistemas de Mantenimiento SL (eProsima).
|
||||||
|
//
|
||||||
|
// Licensed under the Apache License, Version 2.0 (the "License");
|
||||||
|
// you may not use this file except in compliance with the License.
|
||||||
|
// You may obtain a copy of the License at
|
||||||
|
//
|
||||||
|
// http://www.apache.org/licenses/LICENSE-2.0
|
||||||
|
//
|
||||||
|
// Unless required by applicable law or agreed to in writing, software
|
||||||
|
// distributed under the License is distributed on an "AS IS" BASIS,
|
||||||
|
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||||
|
// See the License for the specific language governing permissions and
|
||||||
|
// limitations under the License.
|
||||||
|
|
||||||
|
/*!
|
||||||
|
* @file SubscriberApp.hpp
|
||||||
|
* This header file contains the declaration of the subscriber functions.
|
||||||
|
*
|
||||||
|
* This file was generated by the tool fastddsgen.
|
||||||
|
*/
|
||||||
|
|
||||||
|
#ifndef FAST_DDS_GENERATED__SUBSCRIBERAPP_HPP
|
||||||
|
#define FAST_DDS_GENERATED__SUBSCRIBERAPP_HPP
|
||||||
|
|
||||||
|
#include <condition_variable>
|
||||||
|
|
||||||
|
#include <fastdds/dds/domain/DomainParticipant.hpp>
|
||||||
|
#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
|
||||||
|
#include <fastdds/dds/subscriber/DataReaderListener.hpp>
|
||||||
|
#include <fastdds/dds/topic/TypeSupport.hpp>
|
||||||
|
|
||||||
|
#include "System.hpp"
|
||||||
|
#include "mqtt/async_client.h"
|
||||||
|
|
||||||
|
class SubscriberApp : public eprosima::fastdds::dds::DataReaderListener
|
||||||
|
{
|
||||||
|
public:
|
||||||
|
|
||||||
|
SubscriberApp(
|
||||||
|
const int& domain_id);
|
||||||
|
|
||||||
|
virtual ~SubscriberApp();
|
||||||
|
|
||||||
|
//! Subscription callback
|
||||||
|
void on_data_available(
|
||||||
|
eprosima::fastdds::dds::DataReader* reader) override;
|
||||||
|
|
||||||
|
//! Subscriber matched method
|
||||||
|
void on_subscription_matched(
|
||||||
|
eprosima::fastdds::dds::DataReader* reader,
|
||||||
|
const eprosima::fastdds::dds::SubscriptionMatchedStatus& info) override;
|
||||||
|
|
||||||
|
//! Run subscriber
|
||||||
|
void run(std::shared_ptr<mqtt::async_client> dev);
|
||||||
|
|
||||||
|
//! Trigger the end of execution
|
||||||
|
void stop();
|
||||||
|
|
||||||
|
private:
|
||||||
|
|
||||||
|
//! Return the current state of execution
|
||||||
|
bool is_stopped();
|
||||||
|
|
||||||
|
std::shared_ptr<eprosima::fastdds::dds::DomainParticipantFactory> factory_;
|
||||||
|
eprosima::fastdds::dds::DomainParticipant* participant_;
|
||||||
|
eprosima::fastdds::dds::Subscriber* subscriber_;
|
||||||
|
eprosima::fastdds::dds::Topic* bar_topic_;
|
||||||
|
eprosima::fastdds::dds::DataReader* bar_reader_;
|
||||||
|
eprosima::fastdds::dds::TypeSupport bar_type_;
|
||||||
|
eprosima::fastdds::dds::Topic* light_topic_;
|
||||||
|
eprosima::fastdds::dds::DataReader* light_reader_;
|
||||||
|
eprosima::fastdds::dds::TypeSupport light_type_;
|
||||||
|
eprosima::fastdds::dds::Topic* infraredinfo_topic_;
|
||||||
|
eprosima::fastdds::dds::DataReader* infraredinfo_reader_;
|
||||||
|
eprosima::fastdds::dds::TypeSupport infraredinfo_type_;
|
||||||
|
eprosima::fastdds::dds::Topic* infraredcommand_topic_;
|
||||||
|
eprosima::fastdds::dds::DataReader* infraredcommand_reader_;
|
||||||
|
eprosima::fastdds::dds::TypeSupport infraredcommand_type_;
|
||||||
|
eprosima::fastdds::dds::Topic* license_topic_;
|
||||||
|
eprosima::fastdds::dds::DataReader* license_reader_;
|
||||||
|
eprosima::fastdds::dds::TypeSupport license_type_;
|
||||||
|
eprosima::fastdds::dds::Topic* scaleinfo_topic_;
|
||||||
|
eprosima::fastdds::dds::DataReader* scaleinfo_reader_;
|
||||||
|
eprosima::fastdds::dds::TypeSupport scaleinfo_type_;
|
||||||
|
eprosima::fastdds::dds::Topic* weightinfook_topic_;
|
||||||
|
eprosima::fastdds::dds::DataReader* weightinfook_reader_;
|
||||||
|
eprosima::fastdds::dds::TypeSupport weightinfook_type_;
|
||||||
|
eprosima::fastdds::dds::Topic* weightinfoerror_topic_;
|
||||||
|
eprosima::fastdds::dds::DataReader* weightinfoerror_reader_;
|
||||||
|
eprosima::fastdds::dds::TypeSupport weightinfoerror_type_;
|
||||||
|
uint16_t samples_received_;
|
||||||
|
std::atomic<bool> stop_;
|
||||||
|
uint32_t period_ms_ = 100; // in ms
|
||||||
|
mutable std::mutex terminate_cv_mtx_;
|
||||||
|
std::condition_variable terminate_cv_;
|
||||||
|
};
|
||||||
|
|
||||||
|
#endif // FAST_DDS_GENERATED__SUBSCRIBERAPP_HPP
|
||||||
@ -0,0 +1,245 @@
|
|||||||
|
// Copyright 2016 Proyectos y Sistemas de Mantenimiento SL (eProsima).
|
||||||
|
//
|
||||||
|
// Licensed under the Apache License, Version 2.0 (the "License");
|
||||||
|
// you may not use this file except in compliance with the License.
|
||||||
|
// You may obtain a copy of the License at
|
||||||
|
//
|
||||||
|
// http://www.apache.org/licenses/LICENSE-2.0
|
||||||
|
//
|
||||||
|
// Unless required by applicable law or agreed to in writing, software
|
||||||
|
// distributed under the License is distributed on an "AS IS" BASIS,
|
||||||
|
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||||
|
// See the License for the specific language governing permissions and
|
||||||
|
// limitations under the License.
|
||||||
|
|
||||||
|
/*!
|
||||||
|
* @file main.cxx
|
||||||
|
* This file acts as a main entry point to the application.
|
||||||
|
*
|
||||||
|
* This file was generated by the tool fastddsgen.
|
||||||
|
*/
|
||||||
|
|
||||||
|
#include <csignal>
|
||||||
|
#include <cstring>
|
||||||
|
#include <functional>
|
||||||
|
#include <iostream>
|
||||||
|
#include <stdexcept>
|
||||||
|
#include <thread>
|
||||||
|
|
||||||
|
#include <fastdds/dds/log/Log.hpp>
|
||||||
|
|
||||||
|
#include "Subscriber.hpp"
|
||||||
|
#include "Publisher.hpp"
|
||||||
|
|
||||||
|
#include "mqtt/async_client.h"
|
||||||
|
#include "msg.hpp"
|
||||||
|
|
||||||
|
#define VERSION "v1.0"
|
||||||
|
|
||||||
|
using eprosima::fastdds::dds::Log;
|
||||||
|
|
||||||
|
std::function<void(int)> stop_handler;
|
||||||
|
void signal_handler(
|
||||||
|
int signum)
|
||||||
|
{
|
||||||
|
stop_handler(signum);
|
||||||
|
}
|
||||||
|
|
||||||
|
std::string parse_signal(
|
||||||
|
const int& signum)
|
||||||
|
{
|
||||||
|
switch (signum)
|
||||||
|
{
|
||||||
|
case SIGINT:
|
||||||
|
return "SIGINT";
|
||||||
|
case SIGTERM:
|
||||||
|
return "SIGTERM";
|
||||||
|
#ifndef _WIN32
|
||||||
|
case SIGQUIT:
|
||||||
|
return "SIGQUIT";
|
||||||
|
case SIGHUP:
|
||||||
|
return "SIGHUP";
|
||||||
|
#endif // _WIN32
|
||||||
|
default:
|
||||||
|
return "UNKNOWN SIGNAL";
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
class mqtt_callback : public mqtt::callback
|
||||||
|
{
|
||||||
|
public:
|
||||||
|
mqtt_callback(
|
||||||
|
mqtt::async_client& cli,
|
||||||
|
std::vector<std::string> topics,
|
||||||
|
std::vector<int> qos)
|
||||||
|
: cli_(cli)
|
||||||
|
, sub_topic_(std::move(topics))
|
||||||
|
, sub_qos_(std::move(qos))
|
||||||
|
{}
|
||||||
|
|
||||||
|
void connected(const std::string &cause) override
|
||||||
|
{
|
||||||
|
std::cout << "[MQTT] Connected: " << cause << std::endl;
|
||||||
|
for (size_t i = 0; i < sub_topic_.size(); ++i)
|
||||||
|
{
|
||||||
|
std::cout << "topic: " << sub_topic_[i] << std::endl;
|
||||||
|
std::cout << "qos: " << sub_qos_[i] << std::endl;
|
||||||
|
cli_.subscribe(sub_topic_[i], sub_qos_[i]);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
void connection_lost(const std::string &cause) override
|
||||||
|
{
|
||||||
|
std::cout << "[MQTT] Connection lost: " << cause << std::endl;
|
||||||
|
}
|
||||||
|
|
||||||
|
void message_arrived(mqtt::const_message_ptr msg) override
|
||||||
|
{
|
||||||
|
std::cout << "[MQTT] "
|
||||||
|
<< msg->get_topic()
|
||||||
|
<< " -> "
|
||||||
|
<< msg->to_string()
|
||||||
|
<< std::endl;
|
||||||
|
{
|
||||||
|
std::unique_lock<std::mutex> lock(MqttMsgData::queue_cv_mtx_);
|
||||||
|
MqttMsgData::Mqtt_msg_queue_.push(msg);
|
||||||
|
lock.unlock();
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
void delivery_complete(mqtt::delivery_token_ptr tok) override
|
||||||
|
{
|
||||||
|
// 发布消息完成
|
||||||
|
}
|
||||||
|
private:
|
||||||
|
mqtt::async_client& cli_;
|
||||||
|
std::vector<std::string> sub_topic_;
|
||||||
|
std::vector<int> sub_qos_;
|
||||||
|
};
|
||||||
|
|
||||||
|
std::queue<WeighingSystem::BarUpdate> DdsMsgData::BarUpdate_queue_;
|
||||||
|
std::queue<WeighingSystem::LightsUpdate> DdsMsgData::LightsUpdate_queue_;
|
||||||
|
std::queue<WeighingSystem::InfraredUpdate> DdsMsgData::InfraredUpdate_queue_;
|
||||||
|
std::queue<WeighingSystem::InfraredCommandUpdate> DdsMsgData::InfraredCommandUpdate_queue_;
|
||||||
|
std::queue<WeighingSystem::LicenseSnapUpdate> DdsMsgData::LicenseSnapUpdate_queue_;
|
||||||
|
std::queue<WeighingSystem::ScaleInfo> DdsMsgData::ScaleInfo_queue_;
|
||||||
|
std::mutex DdsMsgData::queue_cv_mtx_;
|
||||||
|
std::queue<mqtt::const_message_ptr> MqttMsgData::Mqtt_msg_queue_;
|
||||||
|
std::mutex MqttMsgData::queue_cv_mtx_;
|
||||||
|
|
||||||
|
int main(int argc, char** argv)
|
||||||
|
{
|
||||||
|
auto ret = EXIT_SUCCESS;
|
||||||
|
std::shared_ptr<SubscriberApp> sub;
|
||||||
|
std::shared_ptr<PublisherApp> pub;
|
||||||
|
std::shared_ptr<mqtt::async_client> dev = nullptr;
|
||||||
|
|
||||||
|
int domain_id = 0;
|
||||||
|
std::string mqtt_server;
|
||||||
|
std::string mqtt_username = "admin";
|
||||||
|
std::string mqtt_password = "admin";
|
||||||
|
std::string mqtt_id = "core_0";
|
||||||
|
const std::vector<std::string> topic = {"command"};
|
||||||
|
const std::vector<int> qos = {0};
|
||||||
|
|
||||||
|
for (int i = 1; i < argc; i++)
|
||||||
|
{
|
||||||
|
if (strcmp(argv[i], "--domain") == 0 && i + 1 < argc)
|
||||||
|
{
|
||||||
|
domain_id = atoi(argv[++i]);
|
||||||
|
mqtt_id = std::string("core_") + std::string(argv[i]);
|
||||||
|
}
|
||||||
|
else if (strcmp(argv[i], "--addr") == 0 && i + 1 < argc)
|
||||||
|
{
|
||||||
|
mqtt_server = argv[++i];
|
||||||
|
}
|
||||||
|
else if (strcmp(argv[i], "--user") == 0 && i + 1 < argc)
|
||||||
|
{
|
||||||
|
mqtt_username = argv[++i];
|
||||||
|
}
|
||||||
|
else if (strcmp(argv[i], "--password") == 0 && i + 1 < argc)
|
||||||
|
{
|
||||||
|
mqtt_password = argv[++i];
|
||||||
|
}
|
||||||
|
else if (strcmp(argv[i], "--version") == 0)
|
||||||
|
{
|
||||||
|
std::cout << "Vesrion: " << VERSION << "\n";
|
||||||
|
return EXIT_SUCCESS;
|
||||||
|
}
|
||||||
|
else if (strcmp(argv[i], "--help") == 0)
|
||||||
|
{
|
||||||
|
std::cout << "Usage: [options]\n"
|
||||||
|
<< "Options:\n"
|
||||||
|
<< " --domain Set domain ID\n"
|
||||||
|
<< " --addr Set mqtt addr (e.g., mqtt://192.168.1.1:1883)\n"
|
||||||
|
<< " --user Set mqtt username (e.g., admin)\n"
|
||||||
|
<< " --password Set mqtt password (e.g., admin)\n"
|
||||||
|
<< " --version Show software Version\n"
|
||||||
|
<< " --help Show this help message\n";
|
||||||
|
return EXIT_SUCCESS;
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
std::cerr << "Unknown option: " << argv[i] << "\n";
|
||||||
|
std::cout << "Usage: [options]\n"
|
||||||
|
<< "Options:\n"
|
||||||
|
<< " --domain Set domain ID\n"
|
||||||
|
<< " --addr Set mqtt addr (e.g., mqtt://192.168.1.1:1883)\n"
|
||||||
|
<< " --user Set mqtt username (e.g., admin)\n"
|
||||||
|
<< " --password Set mqtt password (e.g., admin)\n"
|
||||||
|
<< " --version Show software Version\n"
|
||||||
|
<< " --help Show this help message\n";
|
||||||
|
return EXIT_FAILURE;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
sub = std::make_shared<SubscriberApp>(domain_id);
|
||||||
|
pub = std::make_shared<PublisherApp>(domain_id);
|
||||||
|
|
||||||
|
std::shared_ptr<mqtt_callback> cb;
|
||||||
|
if (mqtt_server != "")
|
||||||
|
{
|
||||||
|
dev = std::make_shared<mqtt::async_client>(mqtt_server, mqtt_id);
|
||||||
|
|
||||||
|
auto connOpts = mqtt::connect_options_builder::v3()
|
||||||
|
.user_name(mqtt_username)
|
||||||
|
.password(mqtt_password)
|
||||||
|
.keep_alive_interval(std::chrono::seconds(30))
|
||||||
|
.automatic_reconnect(std::chrono::seconds(2), std::chrono::seconds(30))
|
||||||
|
.clean_session(false)
|
||||||
|
.finalize();
|
||||||
|
|
||||||
|
cb = std::make_shared<mqtt_callback>(*dev, topic, qos);
|
||||||
|
dev->set_callback(*cb);
|
||||||
|
|
||||||
|
std::cout << "Connecting to broker..." << std::endl;
|
||||||
|
dev->connect(connOpts);
|
||||||
|
std::cout << "MQTT running..." << std::endl;
|
||||||
|
}
|
||||||
|
|
||||||
|
std::thread sub_thread(&SubscriberApp::run, sub, dev);
|
||||||
|
std::thread pub_thread(&PublisherApp::run, pub, dev);
|
||||||
|
|
||||||
|
std::cout << "Program is running. Please press Ctrl+C to stop at any time." << std::endl;
|
||||||
|
|
||||||
|
stop_handler = [&](int signum)
|
||||||
|
{
|
||||||
|
std::cout << "\n" << parse_signal(signum) << " received, stopping " << argv[1]
|
||||||
|
<< " execution." << std::endl;
|
||||||
|
sub->stop();
|
||||||
|
pub->stop();
|
||||||
|
};
|
||||||
|
|
||||||
|
signal(SIGINT, signal_handler);
|
||||||
|
signal(SIGTERM, signal_handler);
|
||||||
|
#ifndef _WIN32
|
||||||
|
signal(SIGQUIT, signal_handler);
|
||||||
|
signal(SIGHUP, signal_handler);
|
||||||
|
#endif // _WIN32
|
||||||
|
|
||||||
|
sub_thread.join();
|
||||||
|
pub_thread.join();
|
||||||
|
|
||||||
|
Log::Reset();
|
||||||
|
return ret;
|
||||||
|
}
|
||||||
@ -0,0 +1,25 @@
|
|||||||
|
#ifndef _MSG_HPP_
|
||||||
|
#define _MSG_HPP_
|
||||||
|
|
||||||
|
#include <queue>
|
||||||
|
#include <mutex>
|
||||||
|
#include "System.hpp"
|
||||||
|
|
||||||
|
class DdsMsgData {
|
||||||
|
public:
|
||||||
|
static std::queue<WeighingSystem::BarUpdate> BarUpdate_queue_;
|
||||||
|
static std::queue<WeighingSystem::LightsUpdate> LightsUpdate_queue_;
|
||||||
|
static std::queue<WeighingSystem::InfraredUpdate> InfraredUpdate_queue_;
|
||||||
|
static std::queue<WeighingSystem::InfraredCommandUpdate> InfraredCommandUpdate_queue_;
|
||||||
|
static std::queue<WeighingSystem::LicenseSnapUpdate> LicenseSnapUpdate_queue_;
|
||||||
|
static std::queue<WeighingSystem::ScaleInfo> ScaleInfo_queue_;
|
||||||
|
static std::mutex queue_cv_mtx_;
|
||||||
|
};
|
||||||
|
|
||||||
|
class MqttMsgData {
|
||||||
|
public:
|
||||||
|
static std::queue<mqtt::const_message_ptr> Mqtt_msg_queue_;
|
||||||
|
static std::mutex queue_cv_mtx_;
|
||||||
|
};
|
||||||
|
|
||||||
|
#endif
|
||||||
Loading…
Reference in New Issue