通用机器人框架

示例节点

use std::sync::{Arc, Mutex};
use client_example::msg::example_message::Position2DMessage;
use generic_robot_framework::main_loop;
use generic_robot_framework::models::tnode::Node;
use generic_robot_framework::models::tpub::Publisher;
use generic_robot_framework::models::tsub::Subscriber;

fn main() {
    let atomic_data = Some(Arc::new(Mutex::new(0)));

    let node: Node = Node::new("my_topic".to_string(), 1000);
    let subscriber: Subscriber<Position2DMessage, Arc<Mutex<u64>>> = Subscriber::new("my_new_topic".to_string(), test_handle, atomic_data.clone());
    let publisher: Publisher<Position2DMessage> = Publisher::new("my_new_topic".to_string());

    let message = Position2DMessage {
        x: 1,
        y: 2
    };

    publisher.publish(message.clone());

    main_loop!(node, {
        println!("{}", atomic_data.as_ref().unwrap().lock().unwrap());

        node.sleep();
    });
}

fn test_handle(message: Position2DMessage, atomic_data: Option<Arc<Mutex<u64>>>) {
    println!("{}", message);

    let arc = atomic_data.unwrap();
    let mut data = arc.lock().unwrap();
    *data = message.y
}

示例消息

extern crate generic_robot_framework;
use generic_robot_framework::register_message;

register_message!(Position2DMessage {
    x: u64,
    y: u64,
});

工作区架构

project_workspace: # GRF package typed "Workspace"
  src:
    packages:
      example_adapter:   # GRF package typed "Adapter"
        ...
      example_resource:  # GRF package typed "Resource"
        ...
      example_package:   # GRF package typed "Module"
        src:
          msg:           # Folder containing messages structs
            - example_message.rs
          bin:           # Folder containing nodes scripts
            - example_node.rs
        - Cargo.toml
        - Cargo.lock
  - Cargo.toml
  - Cargo.lock