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sick_tim310_1130000m01.cpp
Go to the documentation of this file.
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/*
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* Copyright (C) 2013, Osnabrück University
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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* * Neither the name of Osnabrück University nor the names of its
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* contributors may be used to endorse or promote products derived from
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* this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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* Created on: 24.05.2012
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*
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* Authors:
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* Jochen Sprickerhof <jochen@sprickerhof.de>
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* Martin Günther <mguenthe@uos.de>
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*
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* Based on the TiM communication example by SICK AG.
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*
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*/
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#include <
sick_tim/sick_tim_common_usb.h
>
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#include <
sick_tim/sick_tim_common_mockup.h
>
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#include <
sick_tim/sick_tim310_1130000m01_parser.h
>
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int
main
(
int
argc,
char
**argv)
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{
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ros::init
(argc, argv,
"sick_tim310_1130000m01"
);
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ros::NodeHandle
nhPriv(
"~"
);
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bool
subscribe_datagram;
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int
device_number;
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nhPriv.
param
(
"subscribe_datagram"
, subscribe_datagram,
false
);
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nhPriv.
param
(
"device_number"
, device_number, 0);
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sick_tim::SickTim3101130000M01Parser
*
parser
=
new
sick_tim::SickTim3101130000M01Parser
();
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sick_tim::SickTimCommon
*
s
= NULL;
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int
result =
sick_tim::ExitError
;
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while
(
ros::ok
())
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{
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// Atempt to connect/reconnect
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if
(subscribe_datagram)
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s =
new
sick_tim::SickTimCommonMockup
(parser);
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else
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s =
new
sick_tim::SickTimCommonUsb
(parser, device_number);
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result = s->
init
();
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while
(
ros::ok
() && (result ==
sick_tim::ExitSuccess
)){
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ros::spinOnce
();
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result = s->
loopOnce
();
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}
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delete
s;
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if
(result ==
sick_tim::ExitFatal
)
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return
result;
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if
(
ros::ok
() && !subscribe_datagram)
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ros::Duration
(1.0).
sleep
();
// Only attempt USB connections once per second
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}
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delete
parser;
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return
result;
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}
sick_tim::ExitError
Definition:
abstract_parser.h:47
ros::NodeHandle
s
XmlRpcServer s
ros::Duration::sleep
bool sleep() const
ros::init
ROSCPP_DECL void init(int &argc, char **argv, const std::string &name, uint32_t options=0)
sick_tim::SickTimCommon
Definition:
sick_tim_common.h:63
sick_tim::ExitFatal
Definition:
abstract_parser.h:48
sick_tim::SickTim3101130000M01Parser
Definition:
sick_tim310_1130000m01_parser.h:43
sick_tim_common_usb.h
sick_tim_common_mockup.h
ros::NodeHandle::param
bool param(const std::string ¶m_name, T ¶m_val, const T &default_val) const
sick_tim::SickTimCommonUsb
Definition:
sick_tim_common_usb.h:52
ros::ok
ROSCPP_DECL bool ok()
sick_tim::SickTimCommon::init
virtual int init()
Definition:
sick_tim_common.cpp:145
main
int main(int argc, char **argv)
Definition:
sick_tim310_1130000m01.cpp:43
sick_tim::ExitSuccess
Definition:
abstract_parser.h:46
sick_tim310_1130000m01_parser.h
ros::Duration
parser
parser
sick_tim::SickTimCommon::loopOnce
virtual int loopOnce()
Definition:
sick_tim_common.cpp:290
ros::spinOnce
ROSCPP_DECL void spinOnce()
sick_tim::SickTimCommonMockup
Definition:
sick_tim_common_mockup.h:51
sick_tim
Author(s): Jochen Sprickerhof
, Martin Günther
, Sebastian Pütz
autogenerated on Wed Jun 17 2020 04:05:36