seventh-yuan/SeNaviCommon

SeNaviCommon

Test code as below

build with -lSeNaviCommon

#include #include <DataSet/DataType/DataBase.h> #include <DataSet/Dispitcher.h> #include <boost/bind.hpp> #include <DataSet/DataType/DataBase.h> #include <Service/ServiceType/RequestBase.h> #include <Service/ServiceType/ResponseBase.h> #include <Service/Service.h> #include <Time/Time.h>

using namespace std;

class TestData : public NS_NaviCommon::DataBase { public: int i; float f; };

class TestReq : public NS_NaviCommon::RequestBase { public: int req; };

class TestRep : public NS_NaviCommon::ResponseBase { public: int rep; };

void TestSrvFun(NS_NaviCommon::RequestBase* q, NS_NaviCommon::ResponseBase* p) { ((TestRep*)p)->rep = ((TestReq*)q)->req + 100; }

class Test { public: void cb(NS_NaviCommon::DataBase* d) { cout << ((TestData*)d)->i << " "<< ((TestData*)d)->f << endl; }; };

int main(int argc, char* argv[]) { NS_NaviCommon::Time::init();

NS_NaviCommon::Dispitcher dispitcher;

dispitcher.initialize();

NS_NaviCommon::Service service;

service.initialize();

Test test;


dispitcher.subscribe(NS_NaviCommon::DATA_TYPE_TWIST,
		boost::bind(&Test::cb, &test, _1));


TestData test_data;
test_data.i = 1;
test_data.f = 0.1;

service.advertise(NS_NaviCommon::SERVICE_TYPE_NONE,
		boost::bind(&TestSrvFun, _1, _2));

TestReq test_req;
TestRep test_rep;
test_req.req = 8;

NS_NaviCommon::Rate r(1);

while(1)
{
	dispitcher.publish(NS_NaviCommon::DATA_TYPE_TWIST, &test_data);

	service.call(NS_NaviCommon::SERVICE_TYPE_NONE, &test_req, &test_rep);
	cout << test_rep.rep << endl;

	r.sleep();
}


return 0;

}