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// in this example the position mode will be selected and started, after the input 1 is triggered, the motor moves to a set position (flagposition mode)

//1. Step: mapping the frequently used SDO´s
map U16 ControlWord as output 0x6040:00
map U32 ProfileVelocity as output 0x6081:00
map S32 TargetPosition as output 0x607A:00
map U32 Inputs as input 0x60FD:00
map S32 ActualPosition as input 0x6064:00
map S32 AnalogInput as input 0x3320:01
map S08 HomingMethod as output 0x6098:00

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image_height,image_width,_ =cv2.imread(os.listdir()[0]).shape
output_path = os.path.join(os.getcwd(), "result.avi")
video_size = image_width, image_height
video_fps = 5
video_size = image_width, image_height
video_FourCC = cv2.VideoWriter_fourcc(*'MJPG')


out = cv2.VideoWriter(output_path, video_FourCC, video_fps, video_size)
for i in sorted(os.listdir()):

oak-tree

#include <stdio.h>
#include <assert.h>

inline cudaError_t checkCuda(cudaError_t result)
{
  if (result != cudaSuccess) {
    fprintf(stderr, "CUDA Runtime Error: %s\n", cudaGetErrorString(result));
    assert(result == cudaSuccess);
  }
  return result;

oak-tree

import tensorflow as tf
import os
import time

import numpy as np
import matplotlib.pyplot as plt

from tensorflow import keras
from tensorflow.keras.preprocessing import image
from tensorflow.keras.applications.resnet50 import preprocess_input, decode_predictions

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void SetRealTimePriority() {
    int ret;
    pthread_t this_thread = pthread_self();
    // used to store the scheduling priority
    struct sched_param params;
    // set the priority to the maximum.
    params.sched_priority = sched_get_priority_max(SCHED_FIFO);
    LOG(INFO) << "Trying to set thread realtime prio = " << params.sched_priority << std::endl;
    // Attempt to set thread real-time priority to the SCHED_FIFO policy
    ret = pthread_setschedparam(this_thread, SCHED_FIFO, &params);