#添加节点关注

robot/robotics/nexus_net_client.hpp

@@ -137,7 +137,15 @@ namespace robotics {
             /**
              * @brief 详情响应
              */
-            REPDETAILS
+            REPDETAILS,
+            /**
+             * @brief 关注
+             */
+            FOLLOW,
+            /**
+             * @brief 关注响应
+             */
+            REPFOLLOW
         };
         /**
          * @brief 消息
@@ -487,7 +495,9 @@ namespace robotics {
                     {(std::uint8_t)nexus_net_msg_type_enum::REPPUBLISHER,     "发布响应"},
                     {(std::uint8_t)nexus_net_msg_type_enum::HEARTBEAT,        "心跳"},
                     {(std::uint8_t)nexus_net_msg_type_enum::DETAILS,          "详情"},
-                    {(std::uint8_t)nexus_net_msg_type_enum::REPDETAILS,       "详情响应"}
+                    {(std::uint8_t)nexus_net_msg_type_enum::REPDETAILS,       "详情响应"},
+                    {(std::uint8_t)nexus_net_msg_type_enum::FOLLOW,           "关注"},
+                    {(std::uint8_t)nexus_net_msg_type_enum::REPFOLLOW,        "关注响应"}
                 };
                 auto config = read();
                 auto it = std::find_if(config.loggers.begin(), config.loggers.end(), [=](auto& it) {
@@ -683,6 +693,13 @@ namespace robotics {
                     return std::nullopt;
                 }
             }
+            /**
+             * @brief 添加关注节点
+             * @param values 
+             */
+            void add_follow(std::vector<std::string> const& values) {
+                follow_list_ = values;
+            }
             /**
              * @brief 添加订阅
              * @tparam _Fn
@@ -823,6 +840,10 @@ namespace robotics {
              * @brief 连接状态
              */
             v3::delegates<bool>                                         connect_event;
+            /**
+			 * @brief 关注事件
+             */
+            v3::delegates<std::vector<std::string>>                     follow_event;
         private:
             /**
              * @brief 构造
@@ -883,6 +904,15 @@ namespace robotics {
                     send(it);
                 }
             }
+            /**
+			 * @brief 关注节点
+             */
+            void follow() {
+                nexus_net_message msg;
+                msg.msg_type = (std::uint8_t)nexus_net_msg_type_enum::FOLLOW;
+				msg.args << follow_list_;
+                send(msg);
+            }
         private:
             void on_connect(bool success, std::string const& msg) {
                 if (success) {
@@ -906,6 +936,7 @@ namespace robotics {
                     case nexus_net_msg_type_enum::PUBLISHER:        on_publisher(data);     break;
                     case nexus_net_msg_type_enum::REPPUBLISHER:     on_reppublisher(data);  break;
                     case nexus_net_msg_type_enum::REPSUBSCRIBE:     on_repsubscribe(data);  break;
+                    case nexus_net_msg_type_enum::REPFOLLOW:        on_follow(data);        break;
                     }
                 }
                 catch (std::exception const& ec) {
@@ -937,6 +968,7 @@ namespace robotics {
                 if (is_heartbeat_) {
                     authorize_event(true, parent_code_, parent_name_);
                     subscribe();
+                    follow();
                 }
                 else {
                     authorize_event(false, "", "");
@@ -975,12 +1007,28 @@ namespace robotics {
                     message_manage_.set_data(data.msg_id, data);
                 }
             }
+            /**
+             * @brief 关注节点响应
+             * @param data 
+             */
+            void on_follow(nexus_net_message data) {
+                std::vector<std::string> follows;
+                try {
+                    data.args >> follows;
+                    follow_event(follows);
+                }
+                catch (std::exception const& ec) {
+                    LOG_ERROR << "解析关注节点失败:" << ec;
+                }
+                
+			}
         private:
             v3::timer                                     timer_;
             std::string                                   parent_code_;
             std::string                                   parent_name_;
             bool                                          is_heartbeat_ = false;
             nexus_net_tcp_client                          client_;
+			std::vector<std::string>                      follow_list_;
             std::mutex                                    caller_mutex_;
             std::map<std::thread::id, nexus_net_message>  caller_message_list_;
             message_manage                                message_manage_;