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--- getting_started:tutorials:firstproject [2015/08/06 12:57] – visentin
+++ getting_started:tutorials:firstproject [2016/11/29 15:36] (current) – removed graf
@@ Line 1: / Line 1: @@
-====== 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.
-<code c>
-int main() {
-  std::cout << "SCARA Robot Control started" << std::endl;
-  // Define logger
-  StreamLogWriter w(std::cout);
-  w.show();
-  Logger<LogWriter>::setDefaultWriter(&w);
-  // Get HAL istance
-  HAL& hal = HAL::instance();
-  // Get Control System instance
-  MyControlSystem controlSystem;
-  // Get Safety System instance
-  double dt = 0.001;
-  MySafetyProperties safetyProperties(&controlSystem);
-  SafetySystem safetySystem (safetyProperties, dt);
-  Sequencer sequencer;
-  MySequencer  mainSequence(&sequencer, &controlSystem, &safetySystem);
-  sequencer.start(&mainSequence);
-  while(sequencer.getState() != state::terminated) {
-      usleep(10000);
-  }
-  controlSystem.stop();
-  safetySystem.shutdown();
-  sequencer.shutdown();
-  std::cout << "SCARA Robot Control stopped" << std::endl;
-  return 0;
-}
-</code>
-To start, create an instance of the [[eeros_architecture:control_system:start|Control System]] and [[eeros_architecture:safety_system:start|Safety System]]. Since the safety system is closely connected to the Hardware which is accessed through the [[eeros_architecture:safety_system:hal|Hardware Abstraction Layer]] (HAL), inputs and outputs for the HAL have to be defined and assigned to the HAL. \\
-Then you have to define the [[eeros_architecture:safety_system:properties|Safety Properties]] and start the safety system. The safety system will power-up the system and do all the necessary initialization, such as enabling actors and homing them. \\
-Finally, a sequence has to be defined and assigned to a [[eeros_architecture:sequencer:usage|Sequencer]]. The program will run as long as the sequencer does not terminate.
-Here follows the basic implementation of the three subsystems of a simple EEROS application:
-Control System:
-.hpp:
-<code c>
-</code>
-.cpp:
-<code c>
-</code>
-Safety System:
-.hpp:
-<code c>
-</code>
-.cpp:
-<code c>
-</code>
-Main Sequencer:
-.hpp:
-<code c>
-</code>
-.cpp:
-<code c>
-</code>