main.cpp File Reference

#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>

Include dependency graph for main.cpp:

Go to the source code of this file.

Classes
class	RTLoopHistory

Macros
#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

Macro Definition Documentation

#define CLOCK_PRIO   0

Definition at line 690 of file main.cpp.

#define CONTROL_PRIO   0

Definition at line 691 of file main.cpp.

Function Documentation

static void cleanupPidFile ( const char *  interface )

static

Definition at line 684 of file main.cpp.

void* controlLoop

(

void *

)

Definition at line 275 of file main.cpp.

void* diagnosticLoop

(

void *

args

)

Definition at line 212 of file main.cpp.

std::string generatePIDFilename

(

const char *

interface

)

Definition at line 588 of file main.cpp.

bool haltMotorsService	(	std_srvs::Empty::Request &	req,
		std_srvs::Empty::Response &	resp
	)

Definition at line 558 of file main.cpp.

static int lock_fd ( int  fd )

static

Definition at line 571 of file main.cpp.

int main	(	int	argc,
		char *	argv[]
	)

Definition at line 695 of file main.cpp.

static double now ( )

inlinestatic

Definition at line 204 of file main.cpp.

static void publishDiagnostics ( realtime_tools::RealtimePublisher< diagnostic_msgs::DiagnosticArray > &  publisher )

static

Definition at line 126 of file main.cpp.

bool publishTraceService	(	std_srvs::Empty::Request &	req,
		std_srvs::Empty::Response &	resp
	)

Definition at line 564 of file main.cpp.

void quitRequested

(

int

sig

)

Definition at line 547 of file main.cpp.

bool resetMotorsService	(	std_srvs::Empty::Request &	req,
		std_srvs::Empty::Response &	resp
	)

Definition at line 552 of file main.cpp.

static int setupPidFile ( const char *  interface )

static

Definition at line 606 of file main.cpp.

static void timespecInc ( struct timespec &  tick, int  nsec  )

static

Definition at line 225 of file main.cpp.

void Usage

(

string

msg = ""

)

Definition at line 77 of file main.cpp.

Variable Documentation

bool allow_unprogrammed_

Definition at line 71 of file main.cpp.

accumulator_set<double, stats<tag::max, tag::mean> > cm_acc

Definition at line 109 of file main.cpp.

pthread_t controlThread

static

Definition at line 693 of file main.cpp.

pthread_attr_t controlThreadAttr

static

Definition at line 694 of file main.cpp.

accumulator_set<double, stats<tag::max, tag::mean> > ec_acc

Definition at line 108 of file main.cpp.

bool g_halt_motors = false

static

Definition at line 100 of file main.cpp.

bool g_halt_requested = false

static

Definition at line 101 of file main.cpp.

struct { ... } g_options

volatile bool g_publish_trace_requested = false

static

Definition at line 102 of file main.cpp.

int g_quit = 0

static

Definition at line 98 of file main.cpp.

bool g_reset_motors = true

static

Definition at line 99 of file main.cpp.

std::string g_robot_desc

Definition at line 75 of file main.cpp.

struct { ... } g_stats

double halt_rt_loop_frequency

Definition at line 122 of file main.cpp.

char* interface_

Definition at line 68 of file main.cpp.

accumulator_set<double, stats<tag::max, tag::mean> > jitter_acc

Definition at line 111 of file main.cpp.

int last_overrun

Definition at line 114 of file main.cpp.

int last_severe_overrun

Definition at line 115 of file main.cpp.

accumulator_set<double, stats<tag::max, tag::mean> > loop_acc

Definition at line 110 of file main.cpp.

const std::string name = "pr2_ethercat"

static

Definition at line 62 of file main.cpp.

const int NSEC_PER_SECOND = 1e+9

static

Definition at line 103 of file main.cpp.

double overrun_cm

Definition at line 118 of file main.cpp.

double overrun_ec

Definition at line 117 of file main.cpp.

double overrun_loop_sec

Definition at line 116 of file main.cpp.

int overruns

Definition at line 112 of file main.cpp.

const char* PIDDIR = "/var/tmp/run/"

static

Definition at line 586 of file main.cpp.

char* program_

Definition at line 67 of file main.cpp.

int recent_overruns

Definition at line 113 of file main.cpp.

char* rosparam_

Definition at line 70 of file main.cpp.

double rt_loop_frequency

Definition at line 123 of file main.cpp.

bool rt_loop_not_making_timing

Definition at line 121 of file main.cpp.

bool stats_

Definition at line 72 of file main.cpp.

const int USEC_PER_SECOND = 1e6

static

Definition at line 104 of file main.cpp.

char* xml_

Definition at line 69 of file main.cpp.