#include <cstdio>
#include <cstdarg>
#include <getopt.h>
#include <execinfo.h>
#include <csignal>
#include <sys/mman.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <unistd.h>
#include <fcntl.h>
#include <pthread.h>
#include <numeric>
#include "ros_ethercat_model/ros_ethercat.hpp"
#include <controller_manager/controller_manager.h>
#include <std_msgs/Float64.h>
#include <diagnostic_updater/DiagnosticStatusWrapper.h>

Include dependency graph for main.cpp:

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)
string	generatePIDFilename (const char *interface)
static int	lock_fd (int fd)
int	main (int argc, char *argv[])
static double	now ()
static void	publishDiagnostics (RealtimePublisher< diagnostic_msgs::DiagnosticArray > &publisher)
void	quitRequested (int sig)
static int	setupPidFile (const char *interface)
static void *	terminate_control (RealtimePublisher< diagnostic_msgs::DiagnosticArray > publisher, RealtimePublisher< std_msgs::Float64 > rtpublisher, const char message, const char data=NULL)
static void	timespecInc (struct timespec &tick, int nsec)
void	Usage (const string &msg="")
Variables
static pthread_t	controlThread
static pthread_attr_t	controlThreadAttr
struct {
bool allow_unprogrammed_
char * interface_
double period
char * program_
char * rosparam_
bool stats_
}	g_options
static int	g_quit = 0
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 char *	PIDDIR = "/var/tmp/run/"
static const int	SEC_2_NSEC = 1e+9
static const int	SEC_2_USEC = 1e6

Define Documentation

#define CLOCK_PRIO 0

Definition at line 571 of file main.cpp.

#define CONTROL_PRIO 0

Definition at line 572 of file main.cpp.

Function Documentation

static void cleanupPidFile ( const char * interface ) [static]

Definition at line 565 of file main.cpp.

void* controlLoop ( void * )

Definition at line 267 of file main.cpp.

void* diagnosticLoop ( void * args )

Definition at line 200 of file main.cpp.

string generatePIDFilename ( const char * interface )

Definition at line 478 of file main.cpp.

static int lock_fd ( int fd ) [static]

Definition at line 463 of file main.cpp.

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

Definition at line 577 of file main.cpp.

static double now ( ) [inline, static]

Definition at line 193 of file main.cpp.

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

Definition at line 117 of file main.cpp.

void quitRequested ( int sig )

Definition at line 458 of file main.cpp.

static int setupPidFile ( const char * interface ) [static]

Definition at line 485 of file main.cpp.

static void* terminate_control	(	RealtimePublisher< diagnostic_msgs::DiagnosticArray > *	publisher,
		RealtimePublisher< std_msgs::Float64 > *	rtpublisher,
		const char *	message,
		const char *	data = `NULL`
	)		`[static]`