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atlascar_base
src
plc_node.cpp
Go to the documentation of this file.
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/**************************************************************************************************
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Software License Agreement (BSD License)
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Copyright (c) 2011-2013, LAR toolkit developers - University of Aveiro - http://lars.mec.ua.pt
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All rights reserved.
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Redistribution and use in source and binary forms, with or without modification, are permitted
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provided that the following conditions are met:
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*Redistributions of source code must retain the above copyright notice, this list of
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conditions and the following disclaimer.
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*Redistributions in binary form must reproduce the above copyright notice, this list of
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conditions and the following disclaimer in the documentation and/or other materials provided
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with the distribution.
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*Neither the name of the University of Aveiro nor the names of its contributors may be used to
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endorse or promote products derived from this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR
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IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND
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FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
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CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
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DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
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DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER
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IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
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OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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***************************************************************************************************/
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#include "
plc.h
"
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int
main
(
int
argc,
char
**argv)
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{
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// Initialize ROS
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ros::init(argc,argv,
"plc_base"
);
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ros::NodeHandle nh(
"~"
);
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//Ip of the Plc server
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std::string ip;
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//Port of the Plc server
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std::string port;
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//Get the port and ip address of the atlascar PLC
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nh.param(
"server_port"
,port,std::string(
"Not found"
));
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nh.param(
"server_ip"
,ip,std::string(
"Not found"
));
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//Create the Plc Class
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atlascar_base::Plc
plc_control(nh,ip,port);
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//Initialize the plc control class
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plc_control.
init
();
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//Setup message advertise and subscription
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plc_control.
setupMessaging
();
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//Main program loop
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std::cout<<
"Loop start"
<<std::endl;
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plc_control.
loop
();
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return
0;
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}
main
int main(int argc, char **argv)
Definition:
plc_node.cpp:34
atlascar_base::Plc::setupMessaging
void setupMessaging()
Start ros message subscribing and advertising.
Definition:
plc.cpp:100
atlascar_base::Plc
Plc communication and control class.
Definition:
plc.h:127
atlascar_base::Plc::loop
void loop()
Start main control loop.
Definition:
plc.cpp:106
plc.h
Plc class declaration.
atlascar_base::Plc::init
void init()
Initialize the class.
Definition:
plc.cpp:53
atlascar_base
Author(s): Jorge Almeida, Sérgio Pinho, Miguel Oliveira, Pedro Salvado, Andre Oliveira and Pedro Pinheiro
autogenerated on Mon Mar 2 2015 01:31:23