MIRA
 All Classes Namespaces Files Functions Variables Typedefs Enumerations Enumerator Friends Macros Groups Pages
tutorials/FloatProducer.C

Tutorial: Creating a Unit that Publishes Data

#include <fw/Unit.h>
using namespace mira;
namespace tutorials {
class FloatProducer : public Unit
{
MIRA_OBJECT(FloatProducer)
public:
FloatProducer();
template<typename Reflector>
void reflect(Reflector& r)
{
}
protected:
virtual void initialize();
virtual void process(const Timer& timer);
private:
Channel<float> mFloatChannel;
float mValue;
};
FloatProducer::FloatProducer() : Unit(Duration::milliseconds(100))
{
}
void FloatProducer::initialize()
{
mFloatChannel = publish<float>("FloatChannel");
mValue = 0.0f;
}
void FloatProducer::process(const Timer& timer)
{
mValue += 1.0f;
mFloatChannel.post(mValue);
std::cout << "FloatProducer: " << mValue << std::endl;
}
}
MIRA_CLASS_SERIALIZATION(tutorials::FloatProducer, mira::Unit );