ark::main::MainOffboardConfiguration

Defined in header “ark/main/main_offboard.hh”.

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Configuration for the main functions (the entrance point).

Variables

• core::ArgumentParser argument_parser
  An argument parser to start with. This allows you to add custom command line options to your pipeline.

• std::filesystem::path pipeline_config_path
  If specified, this will be the path to the configuration file that should be loaded by default. If not specified, no configuration file is loaded.

• bool add_log_playback_options= false
  Set to true to add a log playback stage and associated command line options.

• bool add_tracer_stage= true
  Set to true to add in a tracer stage with a default configuration.

• bool add_execution_timeout_stage= true
  Set to true to add in the execution-timeout stage (which allows further configuration of timeouts).

• std::optional< bool > add_pipeline_metrics_stage
  Set to true to add in a pipeline metrics stage. This is also added automatically in some cases (if the user is requesting to collect runtimes, for example).

• bool interactive_playback= false
  Set this to true if this session is expected to be interactive; ie, all channels will be played back, and the session will not exit when log playback is complete. Set to false for log simulation.

• bool start_in_paused_state= false
  Start the stage with playback initially paused. Assumes that the log playback options are set to true.

• std::map< std::string, std::string > log_to_playback_channel_mapping
  A list of channels to remap during log playback. For example, you may want to remap channel A in your log to channel B in your simulation. This is mostly intended to assist with reporting.

• std::vector< std::string > force_playback_message_list
  The list of messages that will be played back, even if the pipeline is already publishing them. For example, typically if the pipeline is publishing “/a”, then logged messages on “/a” will not be replayed. However, adding “/a” to this list would cause it to be replayed.

• ArgumentsParsedCallback arguments_parsed_callback
  A callback that will be invoked during initialization. It gives you a chance to modify the pipeline based on what is contained within the command line arguments. This will be invoked before the log_opened_callback.

• LogOpenedCallback log_opened_callback
  This callback is invoked during pipeline initialization. It gives you a chance to modify the pipeline based on what is contained within the log.

• std::shared_ptr< const gui::AbstractTransformProviderFactory > transform_provider_factory
  Renderer TransformProviderFactory. NOTE: The function will be called in the renderer stage’s initialization function.

• std::chrono::nanoseconds execution_duration= std::chrono::nanoseconds::max()
  Maximum duration to run this pipeline. Equivalent to passing execution_duration to execute() directly.