git commit -m "first commit for v2"

Devices/Libraries/Ros/delta_modbus/test/test_delta.cpp

@@ -0,0 +1,34 @@
+#include <ros/ros.h>
+#include <boost/thread.hpp>
+#include "delta_modbus/delta_modbus_tcp.h"
+#include <diagnostic_msgs/DiagnosticArray.h>
+
+
+/**********************************************************************
+ *                   		MAIN 
+***********************************************************************/
+int main(int argc, char** argv) {
+    ros::init(argc, argv, "test_delta_modbus_tcp");
+    ros::NodeHandle nh("~");
+
+    std::string node_name = ros::this_node::getName();
+    ROS_INFO("node_name: %s", node_name.c_str());
+
+    DELTA_NAMESPACE::PLC *plc = NULL;
+
+    std::string IP = "192.168.1.5";
+    int PORT = 502;
+
+    plc = new DELTA_NAMESPACE::PLC(IP, PORT);
+    plc->connect();
+    
+    uint16_t D101;
+    bool M[2];
+    plc->getD(1, D101); plc->mulGetM(1, 2,M);
+    ROS_INFO("D1 %d M1 %x %x", D101, M[0], M[1]);
+
+    ros::spin();  
+    plc = NULL;  
+    delete(plc);
+    return 0;
+}