hekateros_control_main.cpp File Reference

The ROS hekateros_control main. More...

#include <sys/types.h>
#include <unistd.h>
#include <signal.h>
#include <string>
#include "ros/ros.h"
#include "rnr/rnrconfig.h"
#include "rnr/log.h"
#include "rnr/opts.h"
#include "Hekateros/hekateros.h"
#include "hekateros_control.h"
#include "hekateros_as_calib.h"
#include "hekateros_as_follow_traj.h"

Include dependency graph for hekateros_control_main.cpp:

Go to the source code of this file.

Defines
#define	APP_EC_EXEC   4
	execution fatal error
#define	APP_EC_INIT   2
	initialization fatal error
#define	APP_EC_OK   0
	success
#define	NO_SIGNAL   0
	no signal receieved value
Functions
int	main (int argc, char *argv[])
	ROS Hekateros control node main.
static void	sigHandler (int sig)
	Signal handler to allow graceful shutdown of ROS node.
Variables
static OptsInfo_T	AppOptsInfo []
	Command line options information.
static OptsPgmInfo_T	AppPgmInfo
	Program information.
const char *	NodeName = "hekateros_control"
	this ROS node's name
static int	OptsBaudArduino = HekBaudRateArduino
	arduino baud rate
static int	OptsBaudDynabus = HekBaudRateDynabus
	dynabus baud rate
static char *	OptsCfgFile = (char *)HekEtcCfg
	configuration file
static char *	OptsDevArduino = (char *)HekDevArduino
	arduino device name
static char *	OptsDevDynabus = (char *)HekDevDynabus
	dynabus device name
static const PkgInfo_T	PkgInfo
	The package information.
static int	RcvSignal = NO_SIGNAL
	received 'gracefull' signal

---

Detailed Description

The ROS hekateros_control main.

$LastChangedDate$ $Rev$

Author:

Danial Packard (daniel@roadnarrows.com)

Robin Knight (robin.knight@roadnarrows.com)

Copyright:

(C) 2013-2014 RoadNarrows (http://www.roadnarrows.com)
All Rights Reserved

Definition in file hekateros_control_main.cpp.

---

Define Documentation

#define APP_EC_EXEC   4

execution fatal error

Definition at line 103 of file hekateros_control_main.cpp.

#define APP_EC_INIT   2

initialization fatal error

Definition at line 102 of file hekateros_control_main.cpp.

#define APP_EC_OK   0

success

Definition at line 101 of file hekateros_control_main.cpp.

#define NO_SIGNAL   0

no signal receieved value

Definition at line 105 of file hekateros_control_main.cpp.

---

Function Documentation

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

ROS Hekateros control node main.

Parameters:

argc	Command-line argument count.
argv	Command-line argument list.

Returns:

Returns exit code.

Definition at line 266 of file hekateros_control_main.cpp.

static void sigHandler

(

int

sig

)

[static]

Signal handler to allow graceful shutdown of ROS node.

Note:

This handler overrides the roscpp SIGINT handler.

Parameters:

sig	Signal number.

Definition at line 250 of file hekateros_control_main.cpp.

---

Variable Documentation

OptsInfo_T AppOptsInfo[] [static]

Command line options information.

Definition at line 168 of file hekateros_control_main.cpp.

OptsPgmInfo_T AppPgmInfo [static]

Initial value:

{
  
  "[ROSOPTIONS]",

  
  "The %P ROS node provides ROS interfaces to the Hekateros robotic "
  "manipulator.",
  
  
  "",
 
  
  NULL
}

Program information.

Definition at line 149 of file hekateros_control_main.cpp.

const char* NodeName = "hekateros_control"

this ROS node's name

Definition at line 110 of file hekateros_control_main.cpp.

int OptsBaudArduino = HekBaudRateArduino [static]

arduino baud rate

Definition at line 126 of file hekateros_control_main.cpp.

int OptsBaudDynabus = HekBaudRateDynabus [static]

dynabus baud rate

Definition at line 124 of file hekateros_control_main.cpp.

char* OptsCfgFile = (char *)HekEtcCfg [static]

configuration file

Definition at line 122 of file hekateros_control_main.cpp.

char* OptsDevArduino = (char *)HekDevArduino [static]

arduino device name

Definition at line 125 of file hekateros_control_main.cpp.

char* OptsDevDynabus = (char *)HekDevDynabus [static]

dynabus device name

Definition at line 123 of file hekateros_control_main.cpp.

const PkgInfo_T PkgInfo [static]

Initial value:

{
  NodeName,                       
  "1.1.0",                        
  "2014.03.17",                   
  "2014",                         
  NodeName,                       
  "Robin Knight, Daniel Packard", 
  "RoadNarrows LLC",              
  "(C) 2013-2014 RoadNarrows LLC" 
}

The package information.

For ROS nodes, RN package information is equivalent to this ROS application information.

Definition at line 134 of file hekateros_control_main.cpp.

int RcvSignal = NO_SIGNAL [static]

received 'gracefull' signal

Definition at line 111 of file hekateros_control_main.cpp.