int main(int argc, char **argv) {
nodeid = get_my_ip();
parse_cli(argc,argv);
if(nodeid == 0) {
fprintf(stderr, "Could not determine host address, use -n <ip>\n");
exit(-1);
}
signal(SIGPIPE, SIG_IGN);
if(foreground) {
fqd_config_init(nodeid, config_path, queue_path);
listener_thread(NULL);
exit(0);
}
else {
int pid, fd;
/* Handle stdin/stdout/stderr */
fd = open("/dev/null", O_RDONLY);
if(fd < 0 || dup2(fd, STDIN_FILENO) < 0) die("Failed to setup stdin");
close(fd);
fd = open("/dev/null", O_WRONLY);
if(fd < 0 || dup2(fd, STDOUT_FILENO) < 0 || dup2(fd, STDERR_FILENO) < 0)
die("Failed to setup std{out,err}");
close(fd);
/* daemonize */
pid = fork();
if(pid < 0) die("Failed to fork");
if(pid > 0) exit(0);
setsid();
pid = fork();
if(pid < 0) die("Failed to fork");
if(pid > 0) exit(0);
/* run */
fqd_config_init(nodeid, config_path, queue_path);
listener_thread(NULL);
}
return 0;
}
int main(int argc, char* argv[])
{
std::vector<std::string> commands;
commands.push_back("python run.py");
commands.push_back("python run.py");
thread_flag terminate(false);
thread_flag finished(false);
std::thread runner_thread(runner, &terminate, &finished, commands);
std::thread listener_thread(listener, &terminate, &finished);
runner_thread.join();
listener_thread.join();
return 0;
}
int main(int argc, char** argv) {
ros::init(argc, argv, "talker");
ros::NodeHandle n;
ros::Publisher chatter_pub = n.advertise<std_msgs::Float64>("chatter", 100);
ros::Rate loop_rate(5);
int count = 0;
boost::thread listener_thread(listener);
std_msgs::Float64Ptr timestamp(new std_msgs::Float64);
while (ros::ok()) {
timestamp->data = ros::WallTime::now().toSec();
chatter_pub.publish(timestamp); // <---- note we pass a shared pointer here, not an object itself!
ros::spinOnce();
loop_rate.sleep();
++count;
}
listener_thread.join();
}
int main() {
if (!canopen::openConnection("/dev/pcan32")) {
std::cout << "Cannot open CAN device" << std::endl;
return -1;
}
std::thread listener_thread(listener_func);
canopen::initDevice(12);
std::this_thread::sleep_for(std::chrono::milliseconds(50));
canopen::homing(12);
std::this_thread::sleep_for(std::chrono::milliseconds(50));
canopen::statusWord(12);
canopen::modesOfOperationDisplay(12);
std::this_thread::sleep_for(std::chrono::seconds(5));
canopen::ipMode(12);
canopen::sendSync();
std::this_thread::sleep_for(std::chrono::milliseconds(10));
/*
int pos = 0;
for (int i=0; i<1000; i++) {
canopen::sendPos("schunk_default_rPDO_12", pos);
pos += 100;
std::this_thread::sleep_for(std::chrono::milliseconds(10));
canopen::sendSync();
}
*/
std::this_thread::sleep_for(std::chrono::seconds(5));
// listener_thread.join();
canopen::closeConnection();
return 0;
}
void initListenerThread(std::function<void ()> const& listener) {
std::thread listener_thread(listener);
listener_thread.detach();
std::this_thread::sleep_for(std::chrono::milliseconds(10));
}
