MOOS学习笔记3——命令行

例程

/**

* @code  A simple example showing how to use a comms client问问怎么样

*/

#include "MOOS/libMOOS/Comms/MOOSAsyncCommClient.h"

#include "MOOS/libMOOS/Utils/CommandLineParser.h"

bool OnConnect ( void *pParam ) {

   CMOOSCommClient *pC = reinterpret_cast <CMOOSCommClient*> (pParam) ;

   pC->Register ("X", 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++){

      q->Trace() ;

   }

   return true ;

}

int main ( int argc , char *argv [] ) {

   // understand the command line

   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 ="ex30" ;

   P.GetVariable ("--moos_name" , my_name);

   // configure the comms

   MOOS :: MOOSAsyncCommClient Comms;

   Comms . SetOnMailCallBack(OnMail ,& Comms );

   Comms . SetOnConnectCallBack( OnConnect ,&Comms );

   // start the comms running

   Comms . Run( db_host , db_port, my_name );

   // forever loop sending data

   std :: vector<unsigned char> X (100);

   for ( ; ; ) {

      MOOSPause (1000);

      Comms.Notify ("X", X);

   }

   return 0;

}