sick_tim310.cpp
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00001 /*
00002  * Copyright (C) 2013, Osnabrück University
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of Osnabrück University nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  *
00029  *  Created on: 24.05.2012
00030  *
00031  *      Authors:
00032  *         Jochen Sprickerhof <jochen@sprickerhof.de>
00033  *         Martin Günther <mguenthe@uos.de>
00034  *
00035  * Based on the TiM communication example by SICK AG.
00036  *
00037  */
00038 
00039 #include <sick_tim/sick_tim_common_usb.h>
00040 #include <sick_tim/sick_tim_common_mockup.h>
00041 #include <sick_tim/sick_tim310_parser.h>
00042 
00043 int main(int argc, char **argv)
00044 {
00045   ros::init(argc, argv, "sick_tim310");
00046   ros::NodeHandle nhPriv("~");
00047 
00048   bool subscribe_datagram;
00049   int device_number;
00050   nhPriv.param("subscribe_datagram", subscribe_datagram, false);
00051   nhPriv.param("device_number", device_number, 0);
00052 
00053   sick_tim::SickTim310Parser* parser = new sick_tim::SickTim310Parser();
00054 
00055   sick_tim::SickTimCommon* s = NULL;
00056 
00057   int result = sick_tim::ExitError;
00058   while (ros::ok())
00059   {
00060     // Atempt to connect/reconnect
00061     if (subscribe_datagram)
00062       s = new sick_tim::SickTimCommonMockup(parser);
00063     else
00064       s = new sick_tim::SickTimCommonUsb(parser, device_number);
00065     result = s->init();
00066 
00067     while(ros::ok() && (result == sick_tim::ExitSuccess)){
00068       ros::spinOnce();
00069       result = s->loopOnce();
00070     }
00071 
00072     delete s;
00073 
00074     if (result == sick_tim::ExitFatal)
00075       return result;
00076 
00077     if (ros::ok() && !subscribe_datagram)
00078       ros::Duration(1.0).sleep(); // Only attempt USB connections once per second
00079   }
00080 
00081   delete parser;
00082   return result;
00083 }


sick_tim
Author(s): Jochen Sprickerhof , Martin Günther , Sebastian Pütz
autogenerated on Thu May 9 2019 02:32:02