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getting_started:tutorials:firstproject

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getting_started:tutorials:firstproject [2015/08/06 13:02] – visentingetting_started:tutorials:firstproject [2016/10/07 14:02] – gehrig
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 ====== Your First EEROS Project ====== ====== Your First EEROS Project ======
-First of all, make sure that you have set up your environment as described in [[..:install_and_setup_development_environment|Install and Setup Development Environment]]. The following example shows a typical EEROS application.  + 
 +  - First of all, make sure that you have set up your environment as described in [[..:install_and_setup_development_environment|Install and Setup Development Environment]].  
 +  - Then create a new project following the steps under "preparation" on [[getting_started:tutorials:helloworld|Getting Started]]. 
 +  - The following example shows a typical EEROS application.   
 +  - After creating all those files, modify the CMakeLists.txt and CMAkeCache.txt files accoring to [[getting_started:tutorials:helloworld|Getting Started]], "Say Hello World with EEROS", point 2 and 3.  
 <code c> <code c>
 +#include <iostream>
 +#include <unistd.h>
 +
 +#include <eeros/logger/Logger.hpp>
 +#include <eeros/logger/StreamLogWriter.hpp>
 +
 +#include "MySequencer.hpp"
 +#include "MySafetyProperties.hpp"
 +#include "MyControlSystem.hpp"
 +
 +
 +using namespace eeros;
 +using namespace eeros::hal;
 +using namespace eeros::control;
 +using namespace eeros::safety;
 +using namespace eeros::logger;
 +using namespace eeros::sequencer;
 +using namespace testproject;
 +
 +
 int main() { int main() {
   std::cout << "SCARA Robot Control started" << std::endl;   std::cout << "SCARA Robot Control started" << std::endl;
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   sequencer.start(&mainSequence);   sequencer.start(&mainSequence);
      
-  while(sequencer.getState() != state::terminated) { +//  while(sequencer.getState() != state::terminated) { 
-      usleep(10000); +//      usleep(10000); 
-  }+//  } 
 +   
 +  sequencer.join();
      
-  controlSystem.stop(); +//  controlSystem.stop(); 
-  safetySystem.shutdown(); +//  safetySystem.shutdown(); 
-  sequencer.shutdown();+//  sequencer.shutdown();
      
   std::cout << "SCARA Robot Control stopped" << std::endl;   std::cout << "SCARA Robot Control stopped" << std::endl;
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     // Run Blocks     // Run Blocks
     // e.g. timedomain.addBlock(&constant);     // e.g. timedomain.addBlock(&constant);
-} 
- 
-void MyControlSystem::start() { 
-    timedomain.start(); 
-} 
- 
-void MyControlSystem::stop() { 
-    timedomain.stop(); 
-    timedomain.join();   
 } }
 </code> </code>
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 <code c> <code c>
 +#ifndef CH_NTB_TEST_MYSEQUENCER_HPP_
 +#define CH_NTB_TEST_MYSEQUENCER_HPP_
 +
 +#include <eeros/sequencer/Sequence.hpp>
 +#include <eeros/safety/SafetySystem.hpp>
 +#include "MyControlSystem.hpp"
 +
 +
 +namespace testproject {
 +    
 +    class MySequencer : public eeros::sequencer::Sequence<void> {
 +    
 +    public:
 + MySequencer(eeros::sequencer::Sequencer* sequencer, testproject::MyControlSystem* controlSys, eeros::safety::SafetySystem* safetySys);
 +
 + virtual bool checkPreCondition();
 + virtual void run();
 + virtual void exit();
 +
 +    private: 
 + // Define subsequences here
 + // Example: Homing homingSequence; 
 +
 + bool isTerminating();
 +
 + testproject::MyControlSystem* controlSys;
 + eeros::safety::SafetySystem* safetySys;
 +
 +    }; // end class
 +};     // end namespace
 +
 +#endif // CH_NTB_TEST_MYSEQUENCER_HPP_
 </code> </code>
  
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 <code c> <code c>
 +#include "MySequencer.hpp"
 +#include "MySafetyProperties.hpp"
 +#include <unistd.h>
 +
 +using namespace testproject;
 +using namespace eeros::sequencer;
 +using namespace eeros::safety;
 +
 +MySequencer::MySequencer(Sequencer* sequencer, MyControlSystem* controlSys, SafetySystem* safetySys) : 
 + Sequence< void >("main", sequencer), controlSys(controlSys), safetySys(safetySys) {
 +    // nothing to do 
 +}
 +
 +bool MySequencer::checkPreCondition() {
 +    return safetySys->getCurrentLevel().getId() >= off;   
 +}
 +
 +void MySequencer::run() {
 +    log.info() << "Start sequence";
 +    sleep(1);   
 +}
 +
 +void MySequencer::exit() {
 +    log.info() << "Exit sequence";
 +}
 +
 +inline bool MySequencer::isTerminating() {
 +    return sequencer->getState() == state::terminating;
 +}
 </code> </code>
  
 +The related CMake File is: 
 +
 +<code c>
 +cmake_minimum_required(VERSION 2.8)
 +
 +project(test-project)
 +
 +include_directories(${ADDITIONAL_INCLUDE_DIRS})
 +link_directories(${ADDITIONAL_LINK_DIRS})
 +
 +set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
 +
 +add_executable(test-project 
 +       main.cpp
 +       MyControlSystem.cpp
 +       MySafetyProperties.cpp
 +       MySequencer.cpp)
 +
 +target_link_libraries(test-project eeros)
 +</code>