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getting_started:tutorials:firstproject

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getting_started:tutorials:firstproject [2015/08/10 11:13] – visentingetting_started:tutorials:firstproject [2016/10/07 14:02] – gehrig
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   - Then create a new project following the steps under "preparation" on [[getting_started:tutorials:helloworld|Getting Started]].   - 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.     - 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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 target_link_libraries(test-project eeros) target_link_libraries(test-project eeros)
 </code> </code>
- 
-  - 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.