C++ (Cpp) sbValidateObjectSize示例

示例#1

文件： coaxtune.cpp 项目： JerlynPeh/ros_coax

int main(int argc, const char *argv[])
{
	int res;
	const SBVersionStatus * compiled = sbGetCompiledVersion(); 
	unsigned int objSizeStatus = sbValidateObjectSize(compiled);
	printf("Object size status: %04x\n",objSizeStatus);
	assert(objSizeStatus == 0);


	SBApiSimpleContext simple;
	SBController api(&simple);

	if (argc < 4) {
		printf("Usage:\n\t%s <port> <load|save> <filename>\n",argv[0]);
		return -1;
	}
	CRITICAL(res = api.initialise(argv[1]));

	if (strcasecmp(argv[2],"load")==0) {
		api.load(argv[3]);
	}
	if (strcasecmp(argv[2],"save")==0) {
		api.save(argv[3]);
	}


	DEBUG(res = api.terminate());

	return 0;
}

示例#2

文件： coax_repeat.cpp 项目： JerlynPeh/ros_coax

int main(int argc, char **argv)
{
	int res;
	const SBVersionStatus * compiled = sbGetCompiledVersion(); 
	unsigned int objSizeStatus = sbValidateObjectSize(compiled);

	ros::init(argc, argv, "coax_repeat");
	ROS_INFO("Object size status: %04x",objSizeStatus);
	assert(objSizeStatus == 0);

	SBApiSimpleContext simple;
	SBController api(&simple);


	CRITICAL(res = api.initialise((argc<2)?("localhost"):(argv[1])));

	ros::NodeHandle n("/coax_repeat");


#ifdef REPEAT_STRINGS
	ros::Subscriber repeat_sub = n.subscribe("torepeat",1,&SBController::repeat_ros_callback,&api);
	ros::Publisher repeat_pub = n.advertise<std_msgs::String>("repeated",1);
#else
	ros::Subscriber repeat_sub = n.subscribe("torepeat",1,&SBController::repeat_ros_callback,&api);
	ros::Publisher repeat_pub = n.advertise<coax_msgs::CoaxRepeat>("repeated",1);
#endif
    api.setupRepeatIO(&repeat_pub,&repeat_sub);

	ROS_INFO("Coax Server ready");
	ros::spin();

	DEBUG(res = api.terminate());
	return 0;
}

示例#3

文件： coax-sysid.cpp 项目： JerlynPeh/ros_coax

int main(int argc, const char *argv[])
{
	const SBVersionStatus * compiled = sbGetCompiledVersion(); 
	unsigned int objSizeStatus = sbValidateObjectSize(compiled);
	printf("Object size status: %04x\n",objSizeStatus);
	assert(objSizeStatus == 0);

	char flogname[128]; 
	sprintf(flogname,"log-%08ld.txt",(unsigned long)time(NULL));

	SBApiSimpleContext simple;
	SBController api(&simple);


	int res;
	CRITICAL(res = api.initialise((argc<2)?("localhost"):(argv[1])));

	DEBUG(res = api.joyctrl());

	DEBUG(res = api.terminate());

	printf("Saving log\n");
	api.savelog(flogname);
	printf("Saved log\n");
	return 0;
}

示例#4

文件： coax_server.cpp 项目： redbaron148/siue_coax_dev

int main(int argc, char **argv)
{
    int res;
    const SBVersionStatus * compiled = sbGetCompiledVersion(); 
    unsigned int objSizeStatus = sbValidateObjectSize(compiled);

    ros::init(argc, argv, "coax_server");
    ROS_INFO("Object size status: %04x",objSizeStatus);
    assert(objSizeStatus == 0);

    SBApiSimpleContext simple;
    SBController api(&simple);


    CRITICAL(res = api.initialise((argc<2)?("localhost"):(argv[1])));

    ros::NodeHandle n("/coax_server");

    std::vector<ros::ServiceServer> services;
    services.push_back(n.advertiseService("get_version", &SBController::get_version, &api));
    services.push_back(n.advertiseService("configure_comm", &SBController::configure_comm, &api));
    services.push_back(n.advertiseService("configure_control", &SBController::configure_control, &api));
    services.push_back(n.advertiseService("configure_oamode", &SBController::configure_oamode, &api));
    services.push_back(n.advertiseService("get_control_parameters", &SBController::get_control_parameters, &api));
    services.push_back(n.advertiseService("set_control_parameters", &SBController::set_control_parameters, &api));
    services.push_back(n.advertiseService("get_trim_mode", &SBController::get_trim_mode, &api));
    services.push_back(n.advertiseService("set_trim_mode", &SBController::set_trim_mode, &api));
    services.push_back(n.advertiseService("get_sensor_list", &SBController::get_sensor_list, &api));
    services.push_back(n.advertiseService("reach_nav_state", &SBController::reach_nav_state, &api));
    services.push_back(n.advertiseService("request_state", &SBController::request_state, &api));
    services.push_back(n.advertiseService("send_string", &SBController::send_string, &api));
    services.push_back(n.advertiseService("set_verbose", &SBController::set_verbose, &api));
    services.push_back(n.advertiseService("set_ack_mode", &SBController::set_ack_mode, &api));
    services.push_back(n.advertiseService("set_timeout", &SBController::set_timeout, &api));
    services.push_back(n.advertiseService("set_control", &SBController::set_control, &api));
    services.push_back(n.advertiseService("set_raw_control", &SBController::set_raw_control, &api));
    services.push_back(n.advertiseService("reset", &SBController::reset, &api));
    services.push_back(n.advertiseService("set_light", &SBController::set_light, &api));

    // Publishing the state
    ros::Publisher coax_pub = n.advertise<coax_msgs::CoaxState>("state",50);
    api.registerPublisher(&coax_pub);

    // Subscribing to control message (without acknowledgement)
    ros::TransportHints hints;
    ros::Subscriber control_sub = n.subscribe("control",10,&SBController::control_callback,&api,hints.udp());
    ros::Subscriber rawcontrol_sub = n.subscribe("rawcontrol",10,&SBController::raw_control_callback,&api,hints.udp());

    ROS_INFO("Coax Server ready");
    ros::spin();

    DEBUG(res = api.terminate());
    return 0;
}

示例#5

文件： setdebug.cpp 项目： JerlynPeh/ros_coax

int main(int argc, const char *argv[])
{
	int res;
	const SBVersionStatus * compiled = sbGetCompiledVersion(); 
	unsigned int objSizeStatus = sbValidateObjectSize(compiled);
	printf("Object size status: %04x\n",objSizeStatus);
	assert(objSizeStatus == 0);


	SBApiSimpleContext simple;
	SBController api(&simple);

	if (argc < 3) {
		printf("Usage:\n\t%s <port> <debug>\n",argv[0]);
		return -1;
	}
    int debug = 0;
    sscanf(argv[2]," %d",&debug);
	CRITICAL(res = api.initialise(argv[1],debug));
	DEBUG(res = api.terminate());

	return 0;
}