main.cpp (b228cea2faa676f70e84f0b3b4fc9e422cf4f8d9) main.cpp (232ffe4e03d92e08b8d564b23856155b31492619)
1/**
2 * Copyright 2017 Google Inc.
3 *
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
7 *
8 * http://www.apache.org/licenses/LICENSE-2.0

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165 timer.expires_after(initialStartTime);
166 }
167 // re-try control loop, set up a delay.
168 else
169 {
170 timer.expires_after(delayTeime);
171 }
172 count++;
1/**
2 * Copyright 2017 Google Inc.
3 *
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
7 *
8 * http://www.apache.org/licenses/LICENSE-2.0

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165 timer.expires_after(initialStartTime);
166 }
167 // re-try control loop, set up a delay.
168 else
169 {
170 timer.expires_after(delayTeime);
171 }
172 count++;
173 timer.async_wait(
174 [](const boost::system::error_code& error) {
175 if (error == boost::asio::error::operation_aborted)
176 {
177 return;
178 }
179 try
180 {
181 restartControlLoops();
182 // reset count after succesful restartControlLoops()
183 count = 0;
184 }
185 catch (const std::exception& e)
186 {
187 if (count >= 5)
188 {
189 std::cerr
190 << "Failed to restartControlLoops after multiple tries"
191 << std::endl;
192 throw std::runtime_error(e.what());
193 }
173 timer.async_wait([](const boost::system::error_code& error) {
174 if (error == boost::asio::error::operation_aborted)
175 {
176 return;
177 }
194
178
195 std::cerr << count
196 << " Failed during restartControlLoops, try again: "
197 << e.what() << "\n";
198 tryRestartControlLoops(false);
199 }
200 });
179 // for the last loop, don't elminate the failure of restartControlLoops.
180 if (count >= 5)
181 {
182 restartControlLoops();
183 // reset count after succesful restartControlLoops()
184 count = 0;
185 return;
186 }
201
187
188 // retry when restartControlLoops() has some failure.
189 try
190 {
191 restartControlLoops();
192 // reset count after succesful restartControlLoops()
193 count = 0;
194 }
195 catch (const std::exception& e)
196 {
197 std::cerr << count
198 << " Failed during restartControlLoops, try again: "
199 << e.what() << "\n";
200 tryRestartControlLoops(false);
201 }
202 });
203
202 return;
203}
204
205} // namespace pid_control
206
207int main(int argc, char* argv[])
208{
209 loggingPath = "";

--- 58 unchanged lines hidden --- 		204 return;
205}
206
207} // namespace pid_control
208
209int main(int argc, char* argv[])
210{
211 loggingPath = "";

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