void GuiInterface::stop()
{
qDebug("GuiInterface thread stopped");
stoppedConsumer = true;
rcmIfClose();
}
void RefInterface::stop()
{
//stop ref thread so consumer can grab info
qDebug("Reference thread stopped");
// stopped = false;
stopped = true;
rcmIfClose();
}
int main(int argc, char **argv)
{
ros::init(argc, argv, "reset");
ros::NodeHandle nh("~");
// parameters
int node_id;
std::string dev_path;
nh.param("node_id", node_id, 100);
nh.param("dev_path", dev_path, std::string("/dev/ttyACM0"));
int r;
// initialize interface
r = rcmIfInit(rcmIfUsb, (char*) dev_path.c_str());
error_check(r, "Initialization Failed");
// put in idle mode during configuration
r = rcmSleepModeSet(RCM_SLEEP_MODE_IDLE);
error_check(r, "Time out waiting for sleep mode set");
// make sure correct internal opmode is set
r = rcmOpModeSet(RCM_OPMODE_RCM);
error_check(r, "Timeout waiting for opmode set");
// execute Built-In Test
int status;
r = rcmBit(&status);
error_check(r, "Timeout waiting for test");
error_check(status, "Built-In Test Failed");
// get status information
rcmMsg_GetStatusInfoConfirm statusInfo;
r = rcmStatusInfoGet(&statusInfo);
error_check(r, "Timeout waiting for status information");
print_status(&statusInfo);
// get configuration from RCM
rcmConfiguration config;
r = rcmConfigGet(&config);
error_check(r, "Timeout waiting for configuration");
print_configuration(&config);
// default configuration
config.nodeId = node_id;
config.integrationIndex = 7;
config.codeChannel = 0;
config.electricalDelayPsA = 0;
config.electricalDelayPsB = 0;
config.flags = 0;
config.txGain = RCM_TXGAIN_MAX;
config.persistFlag = RCM_PERSIST_ALL;
r = rcmConfigSet(&config);
error_check(r, "Time out waiting for rcmConfig confirm");
print_configuration(&config);
// cleanup
rcmIfFlush();
rcmIfClose();
}
