Compile error in cactus_rt: signal_handler.cc

[raulordonezUD]

Hello, first of all thank you for this very helpful code, which I am trying to adapt for a real-time controls application.

I downloaded cactus_rt and am trying to compile it on Linux Debian 12. When 'make debug' is invoked I receive the following error:

      signal_handler.cc:34:10: error: 'ignore' is not a member of 'std'

Commenting out line 34 allows compilation, but I am confused why the compiler complains about 'ignore'?

Thanks!

-Raul

[shuhaowu]

Not sure. Perhaps there's an issue with your compiler. std::ignore is a standard since c++11

[raulordonezUD]

I found the issue. The following includes are missing from signal_handler.cc <http://signal_handler.cc/>: #include <iostream> #include <set> #include <tuple> Adding these now compiles without error. --- Raul Ordonez, PhD Professor Nonlinear Control Laboratory Yaskawa Motoman Robotics Laboratory Dept. ECE, University of Dayton Voice: (937) 229-3183 Fax: (937) 229-4529 https://sites.google.com/udayton.edu/raulordonez/welcome Schedule an appointment with me <https://dayton.starfishsolutions.com/starfish-ops/dl/instructor/serviceCatalog.html?bookmark=connection/816470/schedule>

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On Aug 13, 2024, at 21:34, Shuhao Wu ***@***.***> wrote: Not sure. Perhaps there's an issue with your compiler. std::ignore is a standard since c++11 — Reply to this email directly, view it on GitHub <#117 (comment)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/ACPULG6N3JJFC7DQCFAU2BTZRKXYVAVCNFSM6AAAAABMO3BSGWVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZDEOBXGY3DGNRZHE>. You are receiving this because you authored the thread.

[shuhaowu]

Ah you're right, we're missing an include. I think the proper one should be <utility> according to cppreference. Will update it.

[shuhaowu]

Thanks for reporting this. The include is a bit of a mess last time I checked and depends on a lot of implicit behavior. It really needs to be cleaned up at some point.

Maybe when we port this library to use C++ modules.

[raulordonezUD]

I will be happy to help any way I can. I am currently working on implementing a simple RT control loop for a DC motor, very trivial, but not so simple to do under the RT framework. At least, not for me, since my C++ skills are still very rudimentary.

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--- Raul Ordonez, PhD Professor Nonlinear Control Laboratory Yaskawa Motoman Robotics Laboratory Dept. ECE, University of Dayton Voice: (937) 229-3183 Fax: (937) 229-4529 https://sites.google.com/udayton.edu/raulordonez/welcome Schedule an appointment with me <https://dayton.starfishsolutions.com/starfish-ops/dl/instructor/serviceCatalog.html?bookmark=connection/816470/schedule>

On Aug 15, 2024, at 20:35, Shuhao Wu ***@***.***> wrote: Thanks for reporting this. The include is a bit of a mess last time I checked and depends on a lot of implicit behavior. It really needs to be cleaned up at some point. Maybe when we port this library to use C++ modules. — Reply to this email directly, view it on GitHub <#117 (comment)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/ACPULG2RHSS2DWSNRFI3P2DZRVCO5AVCNFSM6AAAAABMO3BSGWVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZDEOJSGUYTEOBWGI>. You are receiving this because you authored the thread.

[shuhaowu]

Ah yeah it should be very simple. Unfortunately the issue is the examples are all very rudimentary and undocumented as the library has undergone some changes. Some of the examples are using practices I don't particularly like either. Let me update the simple example right now so you can maybe use it as a base.

[shuhaowu]

I've updated the simple example with a simpler structure and more comments. Maybe this helps. The PR is here: #119. You can look at the simple_example now in the code base as I just merged it. https://github.com/cactusdynamics/cactus-rt/blob/master/examples/simple_example/main.cc

If you copy that structure, all you need to do is to fill out the Loop method inside the ExampleRTThread (although you probably want to rename that). The way I do it is like:

bool Loop(int65_t elapsed_ns) noexcept override {
  auto data = ReadEncoder();
  auto output = RunPid(data);
  WriteToMotor(output);
  return false;
}

Of course, then in the same ExampleRTThread you would have to implement the functions of ReadEncoder, RunPid, and WriteToMotor.

You can debug with the built-in logger that we have. I have an example with LOG_INFO_LIMIT, but in the Loop function you an also just use LOG_INFO(Logger(), "hello world {}", my_value) as well.

Hope that helps!