system_interface.cpp
Go to the documentation of this file.
00001 /*
00002 * Software License Agreement (BSD License) 
00003 *
00004 * Copyright (c) 2011, Yaskawa America, Inc.
00005 * All rights reserved.
00006 *
00007 * Redistribution and use in source and binary forms, with or without
00008 * modification, are permitted provided that the following conditions are met:
00009 *
00010 *       * Redistributions of source code must retain the above copyright
00011 *       notice, this list of conditions and the following disclaimer.
00012 *       * Redistributions in binary form must reproduce the above copyright
00013 *       notice, this list of conditions and the following disclaimer in the
00014 *       documentation and/or other materials provided with the distribution.
00015 *       * Neither the name of the Yaskawa America, Inc., nor the names 
00016 *       of its contributors may be used to endorse or promote products derived
00017 *       from this software without specific prior written permission.
00018 *
00019 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00020 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00021 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00022 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00023 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00024 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00025 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00026 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00027 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00028 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00029 * POSSIBILITY OF SUCH DAMAGE.
00030 */ 
00031 
00032 
00033 #include "ros/ros.h"
00034 #include "simple_message/socket/tcp_client.h"
00035 #include "simple_message/simple_message.h"
00036 #include "simple_message/ping_message.h"
00037 #include <iostream>
00038 
00039 using namespace industrial::simple_socket;
00040 using namespace industrial::tcp_client;
00041 using namespace industrial::simple_message;
00042 using namespace industrial::ping_message;
00043 
00044 
00045 int main(int argc, char** argv)
00046 // Allows user to send commands to the robot
00047 {
00048   char ip[1024] = "192.168.10.3"; // Robot IP address
00049   bool exit = false;
00050   SimpleMessage reply, request;
00051   PingMessage tReply, tRequest;
00052   TcpClient connection;
00053 
00054   ROS_INFO("Setting up tcp client");
00055   connection.init(ip, StandardSocketPorts::SYSTEM);
00056 
00057   ROS_INFO("Connecting to server");
00058   if (connection.makeConnect())
00059   {
00060     tRequest.init();
00061     tRequest.toRequest(request);
00062     
00063     do {
00064     ROS_INFO("Sending ping");
00065     connection.sendAndReceiveMsg(request, reply);
00066     ROS_INFO("Ping recieved");
00067     std::cout << "Type 1 to exit" << std::endl;
00068     std::cin >> exit;
00069         } while (!exit);
00070 
00071     tReply.init(reply);
00072   }
00073 
00074 
00075 
00076   /*
00077   int command;
00078   int reply_message[11];
00079 
00080   ros::init(argc, argv, "system_interface");
00081   ros::NodeHandle n;
00082 
00083   MotoSocket sock(buff, SYSTEM_PORT);
00084 
00085   while (ros::ok())
00086   {
00087     cout << "Enter command number (0 to exit) ==> ";
00088     cin >> command;
00089     if (command == 0)
00090       break;
00091     sock.sendMessage(command, UNUSED, UNUSED, UNUSED, UNUSED, UNUSED, UNUSED, UNUSED, UNUSED, UNUSED, UNUSED, true);
00092     sock.recvMessage(reply_message, true);
00093     for (short i = 0; i < 11; i++)
00094       cout << reply_message[i] << " ";
00095     cout << endl;
00096   }
00097   */
00098   return 0;
00099 }


dx100
Author(s): Shaun Edwards (Southwest Research Institute)
autogenerated on Thu Jan 2 2014 11:29:36