uc_steering.C File Reference

#include <csignal>
#include <libgen.h>
#include <unistd.h>
#include <iostream>
#include "cb_time.H"
#include "conf.H"
#include "linear_interpolator.H"
#include "spline_interpolator.H"
#include "speed_planner.H"
#include "ftc_guide.H"
#include "vs_guide.H"
#include "steering_pid.H"
#include "steering_leadlag.H"
#include "safe_speed_advisor.H"
#include "throttle.H"
#include "drive.H"
#include "access_dq.H"
#include "integral.H"
#include "cbmesg_logger.H"

Functions
void	sig_handler (int sig)
	captures interrupt signals and raisies die signal and also prints cbmessage informing about the interrupt signal
void	print_usage ()
	prints usage of the program
bool	update_bot_should_die (world_state_t *ws_)
	Returns true if received estop kill signal.
bool	wait_at_initial_startup (double initial_wait_time, world_state_t *ws_)
	Returns false if received interrupt during waiting.
int	main (int argc, char **argv)
Variables
char const *	progname
bool	die = false
cbmesg_logger_t	msg_logger
char	message [MAXCBMSGSIZE]

---

Function Documentation

int main	(	int	argc,
		char **	argv
	)

References die, cajun::drive_t::drive_the_bot(), message, msg_logger, print_usage(), progname, cajun::drive_t::publish_pause_values(), cajun::drive_t::shutdown(), sig_handler(), and wait_at_initial_startup().

void print_usage

(

)

prints usage of the program

References progname.

Referenced by main().

void sig_handler

(

int

sig

)

captures interrupt signals and raisies die signal and also prints cbmessage informing about the interrupt signal

References die, message, and msg_logger.

Referenced by main().

bool update_bot_should_die

(

world_state_t *

ws_

)

Returns true if received estop kill signal.

References message, and msg_logger.

Referenced by wait_at_initial_startup().

bool wait_at_initial_startup	(	double	initial_wait_time,
		world_state_t *	ws_
	)

Returns false if received interrupt during waiting.

References die, message, msg_logger, and update_bot_should_die().

Referenced by main().

---

Variable Documentation

bool die = false

Referenced by main(), sig_handler(), and wait_at_initial_startup().

char message[MAXCBMSGSIZE]

Referenced by main(), sig_handler(), cajun::drive_t::steering_position(), update_bot_should_die(), cajun::drive_t::update_flag(), cajun::drive_t::update_signal_line(), cajun::drive_t::update_stale_status(), and wait_at_initial_startup().

cbmesg_logger_t msg_logger

Referenced by main(), sig_handler(), cajun::drive_t::steering_position(), update_bot_should_die(), cajun::drive_t::update_flag(), cajun::drive_t::update_signal_line(), cajun::drive_t::update_stale_status(), and wait_at_initial_startup().

char const* progname

Referenced by main(), and print_usage().