46 lines
929 B
C++
46 lines
929 B
C++
#include <unitree/robot/channel/channel_subscriber.hpp>
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#include <unitree/common/time/time_tool.hpp>
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#include "HelloWorldData.hpp"
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#define TOPIC "TopicHelloWorld"
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using namespace unitree::robot;
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using namespace unitree::common;
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void Handler(const void* msg)
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{
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const HelloWorldData::Msg* pm = (const HelloWorldData::Msg*)msg;
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std::cout << "userID:" << pm->userID() << ", message:" << pm->message() << std::endl;
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}
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int main()
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{
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ChannelFactory::Instance()->Init(0);
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ChannelSubscriber<HelloWorldData::Msg> subscriber(TOPIC);
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subscriber.InitChannel(Handler);
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sleep(5);
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subscriber.CloseChannel();
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std::cout << "reseted. sleep 3" << std::endl;
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sleep(3);
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subscriber.InitChannel();
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sleep(5);
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subscriber.CloseChannel();
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std::cout << "reseted. sleep 3" << std::endl;
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sleep(3);
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subscriber.InitChannel();
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while (true)
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{
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sleep(10);
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}
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return 0;
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}
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