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52 lines
1.6 KiB
C++
52 lines
1.6 KiB
C++
#ifndef WEIGHUI_DDS_SUBSCRIBER_HPP
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#define WEIGHUI_DDS_SUBSCRIBER_HPP
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#include <atomic>
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#include <condition_variable>
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#include <memory>
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#include <mutex>
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#include <fastdds/dds/domain/DomainParticipant.hpp>
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#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
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#include <fastdds/dds/subscriber/DataReaderListener.hpp>
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#include <fastdds/dds/topic/TypeSupport.hpp>
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#include "WeighingDDSTypePubSubTypes.hpp"
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class DdsSubscriberApp : public eprosima::fastdds::dds::DataReaderListener
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{
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public:
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DdsSubscriberApp(const int& domain_id);
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virtual ~DdsSubscriberApp();
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void on_data_available(eprosima::fastdds::dds::DataReader* reader) override;
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void on_subscription_matched(
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eprosima::fastdds::dds::DataReader* reader,
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const eprosima::fastdds::dds::SubscriptionMatchedStatus& info) override;
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void run();
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void stop();
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private:
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bool is_stopped();
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std::shared_ptr<eprosima::fastdds::dds::DomainParticipantFactory> factory_;
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eprosima::fastdds::dds::DomainParticipant* participant_;
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eprosima::fastdds::dds::Subscriber* subscriber_;
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eprosima::fastdds::dds::Topic* summary_topic_;
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eprosima::fastdds::dds::DataReader* summary_reader_;
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eprosima::fastdds::dds::TypeSupport summary_type_;
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// 排队成功 (上位机发布) → WeighUI 取 display_text 显示
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eprosima::fastdds::dds::Topic* queuesuccess_topic_;
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eprosima::fastdds::dds::DataReader* queuesuccess_reader_;
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eprosima::fastdds::dds::TypeSupport queuesuccess_type_;
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std::atomic<bool> stop_;
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uint32_t period_ms_ = 100;
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mutable std::mutex terminate_cv_mtx_;
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std::condition_variable terminate_cv_;
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};
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#endif |