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eeros_architecture:hal:config_ros [2017/12/14 18:32] – [Implemented Message Types] grafeeros_architecture:hal:config_ros [2018/01/18 15:54] – external edit 127.0.0.1
Line 18: Line 18:
 | msgType | string | message type | | msgType | string | message type |
 | dataField | string | data member of message | | dataField | string | data member of message |
-| callOne | boolean | ???? |+| callOne | boolean | newest availabe message is fetched (false), oldest not yet read message is fetched (true) |
 | queueSize | int | size of buffer, default = 1000 | | queueSize | int | size of buffer, default = 1000 |
 | useEerosSystemTime | boolean | use system time or timestamp of message | | useEerosSystemTime | boolean | use system time or timestamp of message |
Line 52: Line 52:
 You can find a complete example, including a *.json file, in the [[getting_started:tutorials:start|]]. You can find a complete example, including a *.json file, in the [[getting_started:tutorials:start|]].
  
-===== How to Use the  ===== 
  
- 
- 
- 
-\subsection{How to use} 
- 
-Refere to the documentation of the EEROS HAL\footnote{http://wiki.eeros.org/eeros\_architecture/hal/start?s[]=hal} and check the example in the eeros framework (/examples/ros). 
- 
- 
- 
-First initialize the HAL in your main function: 
- 
-<code cpp> 
-... 
- 
-int main(int argc, char **argv) { 
- 
- ... 
- 
- // HAL 
- 
- // //////////////////////////////////////////////////////////////////////// 
- 
- HAL& hal = HAL::instance(); 
- 
- hal.readConfigFromFile(&argc, argv); 
- 
- ... 
-</code> 
- 
- 
-Add the header file to your control system: 
- 
-\lstset{language=c} 
- 
-\begin{lstlisting} 
- 
-#include <eeros/hal/HAL.hpp> 
- 
-\end{lstlisting} 
- 
- 
- 
-You can now declare \textit{PeripheralInputs} and \textit{PeripheralOutputs}: 
- 
-<code cpp> 
- PeripheralInput<double> analogIn0; 
- 
- PeripheralInput<bool> digitalIn0; 
- 
- PeripheralOutput<double> analogOut0; 
- 
- PeripheralOutput<bool> digitalOut0; 
-</code> 
- 
- 
- 
-Call the constructor of the peripheral IOs with the \textit{signalID} used in the *.json file 
- 
-<code cpp> 
- 
-class MyControlSystem { 
- 
-public: 
- 
- MyControlSystem(double ts, ros::NodeHandle& rosNodeHandler): 
- 
- dt(ts), 
- 
- ... 
- 
- analogIn0("scanTimeIn0"), // argument has to match signalId of json 
- 
- digitalIn0("batteryPresent0"), 
- 
- analogOut0("scanTimeEchoOut0"), 
- 
- digitalOut0("batteryPresentEchoOut0"), 
- 
- ... 
- 
-} 
-</code> 
eeros_architecture/hal/config_ros.txt · Last modified: 2023/02/27 14:44 by ursgraf