[/SYS]% netconf -c
[/SYS]% sysconf TMaxSemId 500
[/SYS]% sysconf TMaxFlgId 500
[/SYS]% sysconf TMaxTskId 500
corba.nameservers: XXX.XXX.XXX.XXX ←ネームサーバのIPアドレスを指定する。
naming.formats: %n.rtc
logger.enable: NO
exec_cxt.periodic.rate:10 ←実行周期(Hz)を指定する。
exec_cxt.periodic.type:TkPeriodicExecutionContext ←ECを指定する(6節参照)。
[/SYS]% recv -cd TkEcTestComp
[/SYS]% recv -cd rtc.conf
[/SYS]% /SYS/TkEcTestComp -f /SYS/rtc.conf &
[time] XXXmsec (min:XXX, max:XXX)
corba.nameservers: XXX.XXX.XXX.XXX ←環境に合わせて変更してください。
naming.formats: %n.rtc
logger.enable: NO
exec_cxt.periodic.rate:5 ←実行周期(Hz)を指定してください。
exec_cxt.periodic.type:TkPeriodicExecutionContext
Sensor.rtc_hokuyoaist.config_file: /SYS/rtc_hokuyoaist.conf
configuration.active_config: default
conf.default.port_opts: type=serial,device=rsa,baud=19200,timeout=1
conf.default.start_angle: 0.0
conf.default.end_angle: 0.0
conf.default.cluster_count: 1
conf.default.enable_intensity: 0
conf.default.high_sensitivity: 0
conf.default.pull_mode: 0
conf.default.new_data_mode: 0
conf.default.error_time: 5
conf.default.x: 0.0
conf.default.y: 0.0
conf.default.z: 0.0
conf.default.roll: 0.0
conf.default.pitch: 0.0
conf.default.yaw: 0.0
conf.__widget__.port_opts: text
conf.__widget__.start_angle: spin
conf.__widget__.end_angle: spin
conf.__widget__.cluster_count: spin
conf.__widget__.enable_intensity: spin
conf.__widget__.high_sensitivity: spin
conf.__widget__.pull_mode: spin
conf.__widget__.new_data_mode: spin
conf.__widget__.error_time: spin
conf.__widget__.x: spin
conf.__widget__.y: spin
conf.__widget__.z: spin
conf.__widget__.roll: spin
conf.__widget__.pitch: spin
conf.__widget__.yaw: spin
conf.__constraints__.cluster_count: 1<=x
conf.__constraints__.enable_intensity: 0<=x<=1
conf.__constraints__.enable_intensity: 0<=x<=1
conf.__constraints__.high_sensitivity: 0<=x<=1
conf.__constraints__.pull_mode: 0<=x<=1
conf.__constraints__.new_data_mode: 0<=x<=1
conf.__constraints__.error_time: 0<=x
*
alias do /SYS/$$PROGRAM.BOX/DLED /SYS/USR 0
*
/SYS/rtc_hokuyoaistComp -f /SYS/rtc.conf & ←この1行を追加してください。
*
if &DBG == 0
do
exit
else
do &
endif
[/SYS]% recv -cd rtc_hokuyoaistComp
[/SYS]% recv -cd rtc.conf
[/SYS]% recv -cd rtc_hokuyoaist.conf
[/SYS]% recv -cd STARTUP.CLI
[/SYS]% devconf DEBUGMODE 0
[/SYS]% exit
[IMS]% exit -1
---- rtc.conf ----
exec_cxt.periodic.type:PeriodicExecutionContext
↓
exec_cxt.periodic.type:TkPeriodicExecutionContext
---- SYSCONF ----
TTimPeriod 10 # タイマー割り込み間隔(ミリ秒)
[/SYS]% sysconf TTimPeriod 1