HeartBeatMonitor.h

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// this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*-
// -- BEGIN LICENSE BLOCK ----------------------------------------------
// This file is part of the SCHUNK Canopen Driver suite.
//
// This program is free software licensed under the LGPL
// (GNU LESSER GENERAL PUBLIC LICENSE Version 3).
// You can find a copy of this license in LICENSE folder in the top
// directory of the source code.
//
// © Copyright 2016 SCHUNK GmbH, Lauffen/Neckar Germany
// © Copyright 2016 FZI Forschungszentrum Informatik, Karlsruhe, Germany
// -- END LICENSE BLOCK ------------------------------------------------
//----------------------------------------------------------------------
//----------------------------------------------------------------------

#ifndef HEARTBEATMONITOR_H
#define HEARTBEATMONITOR_H

#include <boost/thread.hpp>
#include <boost/shared_ptr.hpp>
#include <map>

#include <icl_core/TimeStamp.h>

namespace icl_hardware{
namespace canopen_schunk{

class HeartBeatMonitor
{
public:
  typedef boost::shared_ptr<HeartBeatMonitor> Ptr;
  typedef boost::shared_ptr<const HeartBeatMonitor> ConstPtr;

  HeartBeatMonitor();

  ~HeartBeatMonitor();

  void addHeartbeat(const uint8_t node_id);


  void registerErrorCallback(const boost::function<void()>& f);

  uint16_t getHeartBeatCycleTime () const { return m_period_time_ms; }

   void setHeartBeatCycleTime (const uint16_t heartbeat_cycle_time_ms) { m_period_time_ms = heartbeat_cycle_time_ms; }

   void reset();

private:
  void workerFunction();

  void stop();

  void start();


  std::map<uint8_t, icl_core::TimeStamp> m_timestamp_record;

  uint16_t m_period_time_ms;

  boost::thread m_thread;

  boost::function<void()> m_error_function;

  bool m_running;
};

}} // End of NS

#endif // HEARTBEATMONITOR_H