controller_main.cpp File Reference

Standalone C++ controller service. More...

#include <arpa/inet.h>
#include <netinet/in.h>
#include <sys/socket.h>
#include <unistd.h>
#include <atomic>
#include <csignal>
#include <cstdlib>
#include <cstring>
#include <fstream>
#include <iostream>
#include <map>
#include <memory>
#include <sstream>
#include <string>
#include <thread>
#include <vector>
#include "config/Config.hpp"
#include "control/ControllerService.hpp"
#include "control/PWMTargets.hpp"
#include "control/RobustDDPController.hpp"
#include "control/StateMachine.hpp"
#include "net/DaqInterface.hpp"

Include dependency graph for controller_main.cpp:

Go to the source code of this file.

Functions
static std::string	resolveConfigPath (const std::string &config_path, const std::string &path)
	Resolve path relative to config: paths like output/lut/... are relative to project root.
static void	signalHandler (int)
static void	handleControlClient (int client_fd, fsw::control::ControllerService *svc)
static void	runControlServer (fsw::control::ControllerService *svc, uint16_t port)
int	main (int argc, char *argv[])

Variables
static std::atomic< bool >	g_running {true}
constexpr size_t	kMaxControlClients = 64

Detailed Description

Standalone C++ controller service.

Reads config.toml for actuator board settings, initializes the RobustDDPController, and runs the control loop sending PWM commands to actuator boards over UDP.

Usage: ./controller_service [–config /path/to/config.toml] [–elodin-host HOST] [–elodin-port PORT] [–thrust N]

Default config path: ../../config/config.toml (relative to binary)

Definition in file controller_main.cpp.

Function Documentation

handleControlClient()

void handleControlClient ( int client_fd, fsw::control::ControllerService * svc )

static

Definition at line 75 of file controller_main.cpp.

References g_running, fsw::control::ControllerService::isFireGateEnabled(), reply(), send(), and fsw::control::ControllerService::setFireActive().

Referenced by runControlServer().

main()

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

Definition at line 223 of file controller_main.cpp.

References fsw::control::ControllerService::PWMConfig::actuator_port, fsw::control::ControllerService::PWMConfig::bind_address, fsw::control::ControllerService::PWMConfig::duration_ms, fsw::control::ControllerService::PWMConfig::frequency_hz, fsw::control::ControllerService::PWMConfig::fuel, g_running, fsw::control::ControllerService::initialize(), fsw::control::ControllerService::is_running(), fsw::config::load(), sequencer::StateMachine::loadStatesFromConfig(), fsw::control::ControllerService::PWMConfig::ox, fsw::control::RobustDDPController::Config::P_copv_min, fsw::control::RobustDDPController::Command::P_fuel_target, fsw::control::RobustDDPController::Command::P_ox_target, fsw::control::RobustDDPController::PRESSURE_TARGET, resolveConfigPath(), fsw::net::resolveDaqBindAddress(), fsw::control::resolvePWMTargets(), runControlServer(), fsw::control::ControllerService::setCommand(), fsw::control::ControllerService::setFireGateEnabled(), fsw::control::ControllerService::setFireStateId(), fsw::control::ControllerService::setTestDuty(), signalHandler(), fsw::control::ControllerService::start(), sequencer::StateMachine::stateId(), fsw::control::ControllerService::stop(), fsw::control::RobustDDPController::THRUST_DESIRED, fsw::control::RobustDDPController::Command::thrust_desired, and fsw::control::RobustDDPController::Command::type.

resolveConfigPath()

std::string resolveConfigPath ( const std::string & config_path, const std::string & path )

static

Resolve path relative to config: paths like output/lut/... are relative to project root.

Definition at line 43 of file controller_main.cpp.

References path::empty(), and path::size().

Referenced by main().

runControlServer()

void runControlServer ( fsw::control::ControllerService * svc, uint16_t port )

static

Definition at line 127 of file controller_main.cpp.

References g_running, handleControlClient(), kMaxControlClients, port, and send().

Referenced by main().

signalHandler()

void signalHandler ( int )

static

Definition at line 56 of file controller_main.cpp.

References g_running.

Variable Documentation

g_running

std::atomic<bool> g_running {true}

static

Definition at line 54 of file controller_main.cpp.

Referenced by handleControlClient(), main(), runControlServer(), and signalHandler().

kMaxControlClients

size_t kMaxControlClients = 64

constexpr

Definition at line 72 of file controller_main.cpp.

Referenced by runControlServer().