main.cpp File Reference

#include <getopt.h>
#include <execinfo.h>
#include <csignal>
#include <pthread.h>
#include <numeric>
#include <boost/accumulators/accumulators.hpp>
#include <boost/accumulators/statistics/stats.hpp>
#include <boost/accumulators/statistics/max.hpp>
#include <boost/accumulators/statistics/mean.hpp>
#include <realtime_tools/realtime_publisher.h>
#include <diagnostic_updater/DiagnosticStatusWrapper.h>
#include <diagnostic_msgs/DiagnosticArray.h>
#include <string>
#include <vector>
#include <controller_manager/controller_manager.h>
#include <khi_robot_hardware_interface.h>

Include dependency graph for main.cpp:

Go to the source code of this file.

Classes
class	RTLoopHistory

Functions
bool	activate (khi_robot_control::KhiRobotHardwareInterface &robot, struct timespec *tick)
void *	controlLoop (void *)
int	main (int argc, char *argv[])
static double	now ()
static void	publishDiagnostics (RealtimePublisher< diagnostic_msgs::DiagnosticArray > &publisher)
void	quitRequested (int sig)
static void	timespecInc (struct timespec &tick, const int &nsec)
void	Usage (const string &msg="")

Variables
static pthread_t	controlThread
static pthread_attr_t	controlThreadAttr
struct {
std::string   ip_
double   period_
char *   program_
std::string   robot_
bool   simulation_
bool   write_
}	g_options
static int	g_quit = 0
struct {
double   halt_rt_loop_frequency
accumulator_set< double, stats< max, mean > >   jitter_acc
int   last_overrun
int   last_severe_overrun
accumulator_set< double, stats< max, mean > >   loop_acc
double   overrun_loop_sec
double   overrun_read
double   overrun_write
int   overruns
accumulator_set< double, stats< max, mean > >   read_acc
int   recent_overruns
double   rt_loop_frequency
bool   rt_loop_not_making_timing
accumulator_set< double, stats< max, mean > >   write_acc
}	g_stats
static double	last_loop_start
static double	last_published
static double	last_rt_monitor_time
static const double	PERIOD_DIFF_WEIGHT = 1e-2
static const double	PERIOD_SLEEP = 0.1
static const int	SEC_2_NSEC = 1e+9
static const int	SEC_2_USEC = 1e+6

Function Documentation

activate()

bool activate ( khi_robot_control::KhiRobotHardwareInterface &  robot, struct timespec *  tick  )

inline

Definition at line 252 of file main.cpp.

controlLoop()

void* controlLoop

(

void *

)

Definition at line 284 of file main.cpp.

main()

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

Definition at line 494 of file main.cpp.

now()

static double now ( )

inlinestatic

Definition at line 197 of file main.cpp.

publishDiagnostics()

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

static

Definition at line 128 of file main.cpp.

quitRequested()

void quitRequested

(

int

sig

)

Definition at line 278 of file main.cpp.

timespecInc()

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

static

Definition at line 204 of file main.cpp.

Usage()

void Usage

(

const string &

msg = ""

)

Definition at line 79 of file main.cpp.

Variable Documentation

controlThread

pthread_t controlThread

static

Definition at line 491 of file main.cpp.

controlThreadAttr

pthread_attr_t controlThreadAttr

static

Definition at line 492 of file main.cpp.

g_options

struct { ... } g_options

g_quit

int g_quit = 0

static

Definition at line 100 of file main.cpp.

g_stats

struct { ... } g_stats

halt_rt_loop_frequency

double halt_rt_loop_frequency

Definition at line 123 of file main.cpp.

ip_

std::string ip_

Definition at line 73 of file main.cpp.

jitter_acc

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

Definition at line 112 of file main.cpp.

last_loop_start

double last_loop_start

static

Definition at line 101 of file main.cpp.

last_overrun

int last_overrun

Definition at line 115 of file main.cpp.

last_published

double last_published

static

Definition at line 101 of file main.cpp.

last_rt_monitor_time

double last_rt_monitor_time

static

Definition at line 101 of file main.cpp.

last_severe_overrun

int last_severe_overrun

Definition at line 116 of file main.cpp.

loop_acc

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

Definition at line 111 of file main.cpp.

overrun_loop_sec

double overrun_loop_sec

Definition at line 117 of file main.cpp.

overrun_read

double overrun_read

Definition at line 118 of file main.cpp.

overrun_write

double overrun_write

Definition at line 119 of file main.cpp.

overruns

int overruns

Definition at line 113 of file main.cpp.

period_

double period_

Definition at line 72 of file main.cpp.

PERIOD_DIFF_WEIGHT

const double PERIOD_DIFF_WEIGHT = 1e-2

static

Definition at line 105 of file main.cpp.

PERIOD_SLEEP

const double PERIOD_SLEEP = 0.1

static

Definition at line 104 of file main.cpp.

program_

char* program_

Definition at line 70 of file main.cpp.

read_acc

accumulator_set<double, stats<max, mean> > read_acc

Definition at line 109 of file main.cpp.

recent_overruns

int recent_overruns

Definition at line 114 of file main.cpp.

robot_

std::string robot_

Definition at line 75 of file main.cpp.

rt_loop_frequency

double rt_loop_frequency

Definition at line 124 of file main.cpp.

rt_loop_not_making_timing

bool rt_loop_not_making_timing

Definition at line 122 of file main.cpp.

SEC_2_NSEC

const int SEC_2_NSEC = 1e+9

static

Definition at line 102 of file main.cpp.

SEC_2_USEC

const int SEC_2_USEC = 1e+6

static

Definition at line 103 of file main.cpp.

simulation_

bool simulation_

Definition at line 74 of file main.cpp.

write_

bool write_

Definition at line 71 of file main.cpp.

write_acc

accumulator_set<double, stats<max, mean> > write_acc

Definition at line 110 of file main.cpp.