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.

• bool enable_synchronized_playback= false
  Use this option to enable playback synchronization with the realtime executor clock. In this mode, the log player will keep the logged object time within 10ms of the current time according to the realtime clock. Old messages will be dropped.