shm_driver.cpp File Reference

#include <ros/ros.h>
#include <ros/console.h>
#include <sensor_msgs/TimeReference.h>
#include <sys/ipc.h>
#include <sys/shm.h>
#include <signal.h>
#include <cstring>
#include <cerrno>
#include <Poco/Process.h>
#include <Poco/Pipe.h>
#include <Poco/PipeStream.h>
#include <Poco/Format.h>
#include <Poco/StreamCopier.h>

Include dependency graph for shm_driver.cpp:

Go to the source code of this file.

Classes
struct	shmTime
Functions
static struct shmTime *	get_shmTime (int unit)
int	main (int argc, char *argv[])
static void	memory_barrier (void)
static void	put_shmTime (volatile struct shmTime **shm)
static void	sig_handler (int sig)
static void	time_ref_cb (const sensor_msgs::TimeReference::ConstPtr &time_ref)
Variables
static bool	g_set_date = false
struct shmTime *	g_shm = NULL
const long int	NTPD_SHM_BASE = 0x4e545030

---

Detailed Description

ROS ntpd driver (via shm)

This node will subscribe to any TimeReference message and sends it's data to ntpd.

Author:

Vladimir Ermakov <vooon341@gmail.com> BSD

Copyright 2014 Vladimir Ermakov. Based on ntpshm.c from gpsd.

Definition in file shm_driver.cpp.

---

Function Documentation

static struct shmTime* get_shmTime

(

int

unit

)

[static, read]

Map SHM page

NOTE: this function did not create SHM like gpsd/ntpshm.c

Definition at line 66 of file shm_driver.cpp.

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

Definition at line 203 of file shm_driver.cpp.

static void memory_barrier

(

void

)

[inline, static]

Memory barrier. unfortunatly we can't use C stdatomic.h So only one option: asm magick

from gpsd compiler.h

Definition at line 122 of file shm_driver.cpp.

static void put_shmTime

(

volatile struct shmTime **

shm

)

[static]

Definition at line 93 of file shm_driver.cpp.

static void sig_handler

(

int

sig

)

[static]

Definition at line 110 of file shm_driver.cpp.

static void time_ref_cb

(

const sensor_msgs::TimeReference::ConstPtr &

time_ref

)

[static]

Definition at line 127 of file shm_driver.cpp.

---

Variable Documentation

bool g_set_date = false [static]

Definition at line 108 of file shm_driver.cpp.

struct shmTime* g_shm = NULL

global SHM time handle

Definition at line 107 of file shm_driver.cpp.

const long int NTPD_SHM_BASE = 0x4e545030

Definition at line 60 of file shm_driver.cpp.