*

Makerbase_ODrive/ODrive-fw-v0.5.1/Firmware/fibre/test/test_server.cpp

@@ -0,0 +1,52 @@
+
+#include <stdio.h>
+#include <unistd.h>
+#include <thread>
+#include <signal.h>
+
+#include <fibre/protocol.hpp>
+#include <fibre/posix_tcp.hpp>
+#include <fibre/posix_udp.hpp>
+
+
+class TestClass {
+public:
+    float property1;
+    float property2;
+
+    float set_both(float arg1, float arg2) {
+        property1 = arg1;
+        property2 = arg2;
+        return property1 + property2;
+    }
+
+    FIBRE_EXPORTS(TestClass,
+        make_protocol_property("property1", &property1),
+        make_protocol_property("property2", &property2),
+        make_protocol_function("set_both", *obj, &TestClass::set_both, "arg1", "arg2")
+    );
+};
+
+
+int main() {
+    printf("Starting Fibre server...\n");
+
+    TestClass test_object = TestClass();
+
+    // publish the object on Fibre
+    auto definitions = test_object.fibre_definitions;
+    fibre_publish(definitions);
+
+    // Expose Fibre objects on TCP and UDP
+    std::thread server_thread_tcp(serve_on_tcp, 9910);
+    std::thread server_thread_udp(serve_on_udp, 9910);
+    printf("Fibre server started.\n");
+
+    // Dump property1 value
+    while (1) {
+        printf("test_object.property1: %f\n", test_object.property1);
+        usleep(1000000 / 5); // 5 Hz
+    }
+
+    return 0;
+}