sick_tim310.cpp
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1 /*
2  * Copyright (C) 2013, Osnabrück University
3  * All rights reserved.
4  *
5  * Redistribution and use in source and binary forms, with or without
6  * modification, are permitted provided that the following conditions are met:
7  *
8  * * Redistributions of source code must retain the above copyright
9  * notice, this list of conditions and the following disclaimer.
10  * * Redistributions in binary form must reproduce the above copyright
11  * notice, this list of conditions and the following disclaimer in the
12  * documentation and/or other materials provided with the distribution.
13  * * Neither the name of Osnabrück University nor the names of its
14  * contributors may be used to endorse or promote products derived from
15  * this software without specific prior written permission.
16  *
17  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
18  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
19  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
20  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
21  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
22  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
23  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
24  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
25  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
26  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
27  * POSSIBILITY OF SUCH DAMAGE.
28  *
29  * Created on: 24.05.2012
30  *
31  * Authors:
32  * Jochen Sprickerhof <jochen@sprickerhof.de>
33  * Martin Günther <mguenthe@uos.de>
34  *
35  * Based on the TiM communication example by SICK AG.
36  *
37  */
38 
42 
43 int main(int argc, char **argv)
44 {
45  ros::init(argc, argv, "sick_tim310");
46  ros::NodeHandle nhPriv("~");
47 
48  bool subscribe_datagram;
49  int device_number;
50  nhPriv.param("subscribe_datagram", subscribe_datagram, false);
51  nhPriv.param("device_number", device_number, 0);
52 
54 
55  sick_tim::SickTimCommon* s = NULL;
56 
57  int result = sick_tim::ExitError;
58  while (ros::ok())
59  {
60  // Atempt to connect/reconnect
61  if (subscribe_datagram)
62  s = new sick_tim::SickTimCommonMockup(parser);
63  else
64  s = new sick_tim::SickTimCommonUsb(parser, device_number);
65  result = s->init();
66 
67  while(ros::ok() && (result == sick_tim::ExitSuccess)){
68  ros::spinOnce();
69  result = s->loopOnce();
70  }
71 
72  delete s;
73 
74  if (result == sick_tim::ExitFatal)
75  return result;
76 
77  if (ros::ok() && !subscribe_datagram)
78  ros::Duration(1.0).sleep(); // Only attempt USB connections once per second
79  }
80 
81  delete parser;
82  return result;
83 }
XmlRpcServer s
bool sleep() const
ROSCPP_DECL void init(int &argc, char **argv, const std::string &name, uint32_t options=0)
bool param(const std::string &param_name, T &param_val, const T &default_val) const
ROSCPP_DECL bool ok()
int main(int argc, char **argv)
Definition: sick_tim310.cpp:43
parser
ROSCPP_DECL void spinOnce()


sick_tim
Author(s): Jochen Sprickerhof , Martin Günther , Sebastian Pütz
autogenerated on Wed Jun 17 2020 04:05:36