#include <stdio.h>
#include <getopt.h>
#include <execinfo.h>
#include <signal.h>
#include <sys/mman.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <unistd.h>
#include <fcntl.h>
#include <pthread.h>
#include <diagnostic_updater/DiagnosticStatusWrapper.h>
#include <pr2_controller_manager/controller_manager.h>
#include <ethercat_hardware/ethercat_hardware.h>
#include <ros/ros.h>
#include <std_srvs/Empty.h>
#include <realtime_tools/realtime_publisher.h>
#include <std_msgs/Float64.h>
#include <boost/accumulators/accumulators.hpp>
#include <boost/accumulators/statistics/stats.hpp>
#include <boost/accumulators/statistics/max.hpp>
#include <boost/accumulators/statistics/mean.hpp>
Go to the source code of this file.
Classes |
| class | RTLoopHistory |
Defines |
| #define | CLOCK_PRIO 0 |
| #define | CONTROL_PRIO 0 |
Functions |
| static void | cleanupPidFile (const char *interface) |
| void * | controlLoop (void *) |
| void * | diagnosticLoop (void *args) |
| std::string | generatePIDFilename (const char *interface) |
| bool | haltMotorsService (std_srvs::Empty::Request &req, std_srvs::Empty::Response &resp) |
| static int | lock_fd (int fd) |
| int | main (int argc, char *argv[]) |
| static double | now () |
| static void | publishDiagnostics (realtime_tools::RealtimePublisher< diagnostic_msgs::DiagnosticArray > &publisher) |
| bool | publishTraceService (std_srvs::Empty::Request &req, std_srvs::Empty::Response &resp) |
| void | quitRequested (int sig) |
| bool | resetMotorsService (std_srvs::Empty::Request &req, std_srvs::Empty::Response &resp) |
| static int | setupPidFile (const char *interface) |
| static void | timespecInc (struct timespec &tick, int nsec) |
| void | Usage (string msg="") |
Variables |
| static pthread_t | controlThread |
| static pthread_attr_t | controlThreadAttr |
| static bool | g_halt_motors = false |
| static bool | g_halt_requested = false |
| struct { |
| bool allow_unprogrammed_ |
| char * interface_ |
| char * program_ |
| char * rosparam_ |
| bool stats_ |
| char * xml_ |
| } | g_options |
| static volatile bool | g_publish_trace_requested = false |
| static int | g_quit = 0 |
| static bool | g_reset_motors = true |
| std::string | g_robot_desc |
| struct { |
accumulator_set< double, stats
< tag::max, tag::mean > > cm_acc |
accumulator_set< double, stats
< tag::max, tag::mean > > ec_acc |
| double halt_rt_loop_frequency |
accumulator_set< double, stats
< tag::max, tag::mean > > jitter_acc |
| int last_overrun |
| int last_severe_overrun |
accumulator_set< double, stats
< tag::max, tag::mean > > loop_acc |
| double overrun_cm |
| double overrun_ec |
| double overrun_loop_sec |
| int overruns |
| int recent_overruns |
| double rt_loop_frequency |
| bool rt_loop_not_making_timing |
| } | g_stats |
| static const std::string | name = "pr2_etherCAT" |
| static const int | NSEC_PER_SECOND = 1e+9 |
| static const char * | PIDDIR = "/var/tmp/run/" |
| static const int | USEC_PER_SECOND = 1e6 |
Define Documentation
Function Documentation
| bool haltMotorsService |
( |
std_srvs::Empty::Request & |
req, |
|
|
std_srvs::Empty::Response & |
resp |
|
) |
| |
| static int lock_fd |
( |
int |
fd | ) |
[static] |
| int main |
( |
int |
argc, |
|
|
char * |
argv[] |
|
) |
| |
| static double now |
( |
| ) |
[inline, static] |
| static void publishDiagnostics |
( |
realtime_tools::RealtimePublisher< diagnostic_msgs::DiagnosticArray > & |
publisher | ) |
[static] |
| bool resetMotorsService |
( |
std_srvs::Empty::Request & |
req, |
|
|
std_srvs::Empty::Response & |
resp |
|
) |
| |
| static void timespecInc |
( |
struct timespec & |
tick, |
|
|
int |
nsec |
|
) |
| [static] |
| void Usage |
( |
string |
msg = "" | ) |
|
Variable Documentation
const std::string name = "pr2_etherCAT" [static] |
const char* PIDDIR = "/var/tmp/run/" [static] |
