bcm_sync.cpp
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00001 #include <canopen_master/bcm_sync.h>
00002 #include <socketcan_interface/string.h>
00003 
00004 int main(int argc, char** argv){
00005 
00006     if(argc < 4){
00007         std::cout << "Usage: " << argv[0] << " DEVICE PERIOD_MS HEADER [OVERFLOW] [+ID*] [-ID*] [--]" << std::endl;
00008         return 1;
00009     }
00010 
00011     std::string can_device = argv[1];
00012     int sync_ms = atoi(argv[2]);
00013     can::Header header = can::toheader(argv[3]);
00014 
00015     if(!header.isValid()){
00016             std::cout << "header is invalid" << std::endl;
00017             return 1;
00018     }
00019     int sync_overflow = 0;
00020 
00021     int start = 4;
00022     if(argc > start && argv[start][0] != '-' && argv[start][0] != '+'){
00023         sync_overflow = atoi(argv[4]);
00024         if(sync_overflow == 1 || sync_overflow < 0 || sync_overflow > 240){
00025             std::cout << "sync overflow is invalid" << std::endl;
00026             return 1;
00027         }
00028         ++start;
00029     }
00030 
00031     std::set<int> monitored, ignored;
00032 
00033     for(; argc > start; ++start){
00034         if(strncmp("--", argv[start], 2) == 0) break;
00035         int id = atoi(argv[start]);
00036 
00037         if(id > 0 && id < 128) monitored.insert(id);
00038         else if (id < 0 && id > -128) ignored.insert(-id);
00039         else{
00040             std::cout << "ID is invalid: " << id  << std::endl;
00041             return 1;
00042         }
00043     }
00044 
00045     boost::shared_ptr<can::SocketCANDriver> driver = boost::make_shared<can::SocketCANDriver>();
00046     if(!driver->init(can_device, false)){
00047         std::cout << "Could not initialize CAN" << std::endl;
00048         return 1;
00049     }
00050 
00051     canopen::SyncProperties sync_properties(header, sync_ms, sync_overflow);
00052     canopen::BCMsync sync(can_device, driver, sync_properties);
00053 
00054     sync.setMonitored(monitored);
00055     sync.setIgnored(ignored);
00056 
00057     canopen::LayerStatus status;
00058     sync.init(status);
00059     if(!status.bounded<canopen::LayerStatus::Warn>()){
00060         std::cout << "Could not initialize sync" << std::endl;
00061         return 1;
00062     }
00063     
00064     driver->run();
00065 
00066     return 0;
00067 }


canopen_master
Author(s): Mathias L├╝dtke
autogenerated on Thu Jun 6 2019 20:43:54