dds机器人数据收发接口

创建DDS发布服务

create_participant_pub(int domain_id)

/**
 * @param domain_id id号
 * @return 程序执行成功与否
 * @retval int 0:成功； other:失败
 */
void robot_DDS_pub()
{
  printf("robot_DDS_pub start!\n");
  int err=HYYRobotBase::create_participant_pub(0);
  if (1!=err)
  {
  printf("create_participant_pub failure!\n");
    return;
  }
  HYYRobotBase::RotationAngle RotAngle;
  const char* robot_name=HYYRobotBase::get_name_robot_device(HYYRobotBase::get_deviceName(0,NULL), 0);
  double angle[10];
  HYYRobotBase::RTimer timer;
  HYYRobotBase::initUserTimer(&timer, 0, 1);
  while (1)
  {
    HYYRobotBase::userTimer(&timer);
    HYYRobotBase::GetGroupTargetPosition(robot_name, angle);
    RotAngle.angle1 =  angle[0];
    RotAngle.angle2 =  angle[1];
    RotAngle.angle3 =  angle[2];
    RotAngle.angle4 =  angle[3];
    RotAngle.angle5 =  angle[4];
    RotAngle.angle6 =  angle[5];

    HYYRobotBase::start_publisher(RotAngle);
  }
  HYYRobotBase::participant_shutdown_pub();

}

DDS发布机器人关节状态

start_publisher(RotationAngle RotAngle)

/**
 * @brief   DDS发布机器人关节状态
 *
 * @param RotAngle 机器人关节数据
 * @return 发布是否成功  
 * @retval 0:成功；
 * @retval other:失败
 */

示例代码

关闭DDS发布服务

participant_shutdown_pub()

/**
 * @brief 关闭DDS发布服务
 *
 * @return int 0:成功； other:失败
 */

示例代码

创建DDS订阅服务

create_participant_sub(int domain_id)

/**
 * @param domain_id id号
 * @return int 0:成功； other:失败
 */
void robot_DDS_sub()
{
  printf("robot_DDS_sub start\n");
  int err=HYYRobotBase::create_participant_sub(0);
  if (1!=err)
  {
    printf("create_participant_pub failure!\n");
    return;
  }
  HYYRobotBase::RotationAngle RotAngle;
  const char* robot_name=HYYRobotBase::get_name_robot_device(HYYRobotBase::get_deviceName(0,NULL), 0);
  double angle[10];
  HYYRobotBase::RTimer timer;
  HYYRobotBase::initUserTimer(&timer, 0, 1);
  while (1)
  {
    HYYRobotBase::userTimer(&timer);
    RotAngle=HYYRobotBase::start_subscriber();
    angle[0]=RotAngle.angle1;
    angle[1]=RotAngle.angle2;
    angle[2]=RotAngle.angle3;
    angle[3]=RotAngle.angle4;
    angle[4]=RotAngle.angle5;
    angle[5]=RotAngle.angle6;
    printf("%f,%f,%f,%f,%f,%f\n",angle[0],angle[1],angle[2],angle[3],angle[4],angle[5]);
    HYYRobotBase::SetGroupPosition(robot_name, angle);
  }

}

DDS订阅机器人关节状态

start_subscriber

/**
 * @return RotationAngle 机器人关节数据
 */

示例代码

关闭DDS订阅服务

participant_shutdown_sub

/**
 * @return int 0:成功； other:失败
 */

示例代码