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123 lines
4.1 KiB
C++
123 lines
4.1 KiB
C++
#ifndef FAST_DDS_GENERATED__PUBLISHERAPP_HPP
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#define FAST_DDS_GENERATED__PUBLISHERAPP_HPP
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#include <condition_variable>
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#include <vector>
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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/publisher/DataWriterListener.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 "MsgHandler.hpp"
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class PublisherApp : public eprosima::fastdds::dds::DataWriterListener,public eprosima::fastdds::dds::DataReaderListener
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{
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public:
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PublisherApp(
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const int& domain_id);
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~PublisherApp();
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//! Publisher matched method
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void on_publication_matched(
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eprosima::fastdds::dds::DataWriter* writer,
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const eprosima::fastdds::dds::PublicationMatchedStatus& info) override;
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//! Run publisher
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void run(std::shared_ptr<MsgHandler> handler);
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//! Trigger the end of execution
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void stop();
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void on_data_available(eprosima::fastdds::dds::DataReader* reader) override;
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void on_subscription_matched(eprosima::fastdds::dds::DataReader* reader,const eprosima::fastdds::dds::SubscriptionMatchedStatus& info) override;
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void PublishSummaryUpdate(const std::string& cardId, float weightTon);
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//void CheckAndPublishSummary();
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void CheckAndPublishSummary(std::shared_ptr<MsgHandler> handler);
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void RestoreAutoFind();
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private:
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//! Return the current state of execution
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bool is_stopped();
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bool is_infrared_blocked(); // ← 新增这一行
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bool has_pending_send(); // ← 新增这一行（可选，统一判断）
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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::Publisher* publisher_;
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eprosima::fastdds::dds::Topic* topic_;
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eprosima::fastdds::dds::DataWriter* writer_;
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eprosima::fastdds::dds::TypeSupport type_;
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std::condition_variable cv_;
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int32_t matched_;
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std::mutex mutex_;
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const uint32_t period_ms_ = 100;
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uint16_t samples_sent_;
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std::atomic<bool> stop_;
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// ── SummaryUpdate 发布者 ──
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eprosima::fastdds::dds::Publisher* summary_publisher_;
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eprosima::fastdds::dds::Topic* summary_topic_;
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eprosima::fastdds::dds::DataWriter* summary_writer_;
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eprosima::fastdds::dds::TypeSupport summary_type_;
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// ── ScaleInfo 订阅者 ──
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eprosima::fastdds::dds::Subscriber* scale_subscriber_;
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eprosima::fastdds::dds::Topic* scale_topic_;
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eprosima::fastdds::dds::DataReader* scale_reader_;
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eprosima::fastdds::dds::TypeSupport scale_type_;
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// ── 新增：等待重量用的状态变量 ──
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float stable_weight_ = 0.0f;
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bool has_weight_ = false;
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float default_weight_ = 0.0f; // 默认重量（当没有稳定重量时使用）
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// ── InfraredUpdate 订阅者 ──
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eprosima::fastdds::dds::Subscriber* infrared_subscriber_;
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eprosima::fastdds::dds::Topic* infrared_topic_;
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eprosima::fastdds::dds::DataReader* infrared_reader_;
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eprosima::fastdds::dds::TypeSupport infrared_type_;
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// ── 最新红外状态缓存 ──
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bool front_blocked_ = false; // 前红外当前是否被遮挡
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bool back_blocked_ = false; // 后红外当前是否被遮挡
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std::mutex infrared_mtx_;
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// ── 用于在 on_data_available 里区分 reader 的 topic ── ← 新增
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std::mutex reader_topic_mtx_;
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std::string scale_topic_name_;
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std::string infrared_topic_name_;
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bool write_test_done_ = false; // 写卡测试是否完成
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bool write_test_started_ = false; // 是否已经开始写卡测试
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bool write_read_pending_ = false; // 写入完成后，等待再次刷卡验证的标志
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// 新增：保留历史重量帧（跨循环累积）
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std::vector<float> recentValues_;
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const size_t MAX_RECENT_FRAMES_ = 10;
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// 用于 SummaryUpdate 发布
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bool summary_pending_;
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std::string pending_card_id_;
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std::mutex summary_mtx_;
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std::condition_variable summary_cv_;
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};
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#endif // FAST_DDS_GENERATED__PUBLISHERAPP_HPP
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