应用与实践

git clone https://codeup.sinsegye.com.cn/automation/so/mom/rtigh-cpp-template.git
cd rtigh-cpp-template
./build.sh
# ./build.sh -b debug  # 编译 debug 版本程序
# 目标生成物存储在 install 路径下
# install
# └── x64_Release
# └── bin
# ├── igh_ec_posix          # Posix 接口示例可执行文件
# ├── igh_ec_xenomai        # xkernel Alchemy 接口示例可执行文件
# └── igh_ec_xenomai_posix  # xkernel Posix 接口示例可执行文件

# 以 x.x.x 版本为例, x86_64-sinsegye-linux-gnu_linux_x.x.x.zip
sudo unzip x86_64-sinsegye-linux-gnu_linux_x.x.x.zip -d /opt

  int main(int argc, char **argv) {
      if (mlockall(MCL_CURRENT | MCL_FUTURE) == -1) {
          perror("mlockall failed\n");
          return -1;
      }

      master = ecrt_request_master(0);
      if (!master) {
          return -1;
      }

      domain = ecrt_master_create_domain(master);
      if (!domain) {
          return -1;
      }

      sc_server = ecrt_master_slave_config(master, SERVER_SLAVE_POS, SINSEGYE_S_V3);
      if (!sc_server) {
          return -1;
      }

      ecrt_slave_config_sdo32(sc_server, 0x60C5, 0x00, 1000);
      ecrt_slave_config_sdo32(sc_server, 0x60C6, 0x00, 1000);

      printf("Configuring PDOs...\n");

      if (ecrt_slave_config_pdos(sc_server, EC_END, slave_syncs)) {
          fprintf(stderr, "Failed to configure slave 2 PDOs!\n");
          exit(EXIT_FAILURE);
      } else {
          printf("*Success to configuring slave 2 PDOs*\n");
      }

      if (ecrt_domain_reg_pdo_entry_list(domain, g_domain_regs)) {
          fprintf(stderr, "server PDO entry registration failed!\n");
          exit(EXIT_FAILURE);
      }

      ecrt_slave_config_dc(sc_server, 0x0300, PERIOD_NS, 4400000, 0, 0);

      printf("Activating master...\n");
      if (ecrt_master_activate(master)) return -1;

      if (!(domain_pd = ecrt_domain_data(domain))) {
          return -1;
      }

      struct sched_param param = {.sched_priority = 82};

      pthread_attr_t th_attr;
      pthread_attr_init(&th_attr);
      pthread_attr_setdetachstate(&th_attr, PTHREAD_CREATE_JOINABLE);
      pthread_attr_setinheritsched(&th_attr, PTHREAD_EXPLICIT_SCHED);
      pthread_attr_setschedpolicy(&th_attr, SCHED_FIFO);
      pthread_attr_setschedparam(&th_attr, &param);

      int ret = pthread_create(&cyclic_thread, &th_attr, &CyclicTask, NULL);
      if (ret) {
          fprintf(stderr, "%s: pthread_create cyclic task failed\n", strerror(-ret));
          return 1;
      }

      sleep(1);

      pthread_join(cyclic_thread, NULL);

      return 0;
  }

  int main(int argc, char *argv[]) {
      int ret;

      signal(SIGTERM, SignalHandler);
      signal(SIGINT, SignalHandler);

      if (mlockall(MCL_CURRENT | MCL_FUTURE) == -1) {
          rt_printf("mlockall failed\n");
          return -1;
      }

      master = ecrt_request_master(0);
      if (!master) {
          return -1;
      }

      domain = ecrt_master_create_domain(master);
      if (!domain) {
          return -1;
      }

      sc_server = ecrt_master_slave_config(master, SERVER_SLAVE_POS, SINSEGYE_S_V3);
      if (!sc_server) {
          return -1;
      }

      ecrt_slave_config_sdo32(sc_server, 0x60C5, 0x00, 1000); // 设置加速度
      ecrt_slave_config_sdo32(sc_server, 0x60C6, 0x00, 1000); // 设置减速度

      rt_printf("Configuring PDOs...\n");

      if (ecrt_slave_config_pdos(sc_server, EC_END, slave_syncs)) {
          rt_printf("Failed to configure slave 2 PDOs!\n");
          exit(EXIT_FAILURE);
      } else {
          rt_printf("*Success to configuring slave 2 PDOs*\n");
      }

      if (ecrt_domain_reg_pdo_entry_list(domain, g_domain_regs)) {
          rt_printf("server PDO entry registration failed!\n");
          exit(EXIT_FAILURE);
      }

      ecrt_slave_config_dc(sc_server, 0x0300, PERIOD_NS, 4400000, 0, 0);

      rt_printf("Activating master...\n");
      if (ecrt_master_activate(master))
          return -1;

      if (!(domain_pd = ecrt_domain_data(domain))) {
          return -1;
      }

      ret = rt_task_create(&my_task, "my_task", 0, 80, kT_FPU);
      if (ret < 0) {
          rt_printf("Failed to create task: %s\n", strerror(-ret));
          return -1;
      }

      rt_printf("Starting my_task...\n");
      ret = rt_task_start(&my_task, &CyclicTask, NULL);
      if (ret < 0) {
          rt_printf("Failed to start task: %s\n", strerror(-ret));
          return -1;
      }

      while (run) {
          sched_yield();
      }

      rt_printf("Deleting realtime task...\n");
      rt_task_delete(&my_task);

      rt_printf("End of Program\n");
      ecrt_release_master(master);

      return 0;
  }