#include <HeartBeatMonitor.h>

Public Types
typedef boost::shared_ptr < const HeartBeatMonitor >	ConstPtr
	Shared pointer to a const HeartBeatMonitor.
typedef boost::shared_ptr < HeartBeatMonitor >	Ptr
	Shared pointer to a HeartBeatMonitor.
Public Member Functions
void	addHeartbeat (const uint8_t node_id)
	Incoming heartbeats will trigger this function to update the most recent heartbeat time.
uint16_t	getHeartBeatCycleTime () const
	The HeartbeatMonitor checks for missing heartbeat messages with this cycle time. If the last heartbeat message for one node was received more than one cycle ago, the error function will be triggered. So basically, this cycle time should be greater than the smallest heartbeat time.
	HeartBeatMonitor ()
void	registerErrorCallback (const boost::function< void()> &f)
	This function will be called as soon as one node is missing a heartbeat message. Probably this function should turn off / stop all devices.
void	reset ()
	Resets the heartbeat monitor. This will make the monitor forget about all past heartbeats and start from scratch.
void	setHeartBeatCycleTime (const uint16_t heartbeat_cycle_time_ms)
	The HeartbeatMonitor checks for missing heartbeat messages with this cycle time. If the last heartbeat message for one node was received more than one cycle ago, the error function will be triggered. So basically, this cycle time should be greater than the smallest heartbeat time.
	~HeartBeatMonitor ()
Private Member Functions
void	start ()
	starts thread execution
void	stop ()
	stops thread execution
void	workerFunction ()
	Thread worker function for the Heartbeat monitor. This function will regularly check for missing heartbeat messages. If a heartbeat message is missing, m_error_function will be called.
Private Attributes
boost::function< void()>	m_error_function
uint16_t	m_period_time_ms
	Cycle period of the monitor thread.
bool	m_running
boost::thread	m_thread
	monitor thread handle
std::map< uint8_t, icl_core::TimeStamp >	m_timestamp_record

Detailed Description

Definition at line 34 of file HeartBeatMonitor.h.

Member Typedef Documentation

typedef boost::shared_ptr<const HeartBeatMonitor> icl_hardware::canopen_schunk::HeartBeatMonitor::ConstPtr

Shared pointer to a const HeartBeatMonitor.

Definition at line 40 of file HeartBeatMonitor.h.

typedef boost::shared_ptr<HeartBeatMonitor> icl_hardware::canopen_schunk::HeartBeatMonitor::Ptr

Shared pointer to a HeartBeatMonitor.

Definition at line 38 of file HeartBeatMonitor.h.

Constructor & Destructor Documentation

icl_hardware::canopen_schunk::HeartBeatMonitor::HeartBeatMonitor ( )

Definition at line 28 of file HeartBeatMonitor.cpp.

icl_hardware::canopen_schunk::HeartBeatMonitor::~HeartBeatMonitor ( )

Definition at line 35 of file HeartBeatMonitor.cpp.

Member Function Documentation

void icl_hardware::canopen_schunk::HeartBeatMonitor::addHeartbeat ( const uint8_t node_id )

Incoming heartbeats will trigger this function to update the most recent heartbeat time.

Parameters:

node_id Node-ID the heartbeat message belonged to.

Definition at line 81 of file HeartBeatMonitor.cpp.

uint16_t icl_hardware::canopen_schunk::HeartBeatMonitor::getHeartBeatCycleTime ( ) const [inline]

The HeartbeatMonitor checks for missing heartbeat messages with this cycle time. If the last heartbeat message for one node was received more than one cycle ago, the error function will be triggered. So basically, this cycle time should be greater than the smallest heartbeat time.

Returns:: The cycle time in milliseconds

Definition at line 69 of file HeartBeatMonitor.h.

void icl_hardware::canopen_schunk::HeartBeatMonitor::registerErrorCallback ( const boost::function< void()> & f )

This function will be called as soon as one node is missing a heartbeat message. Probably this function should turn off / stop all devices.

Definition at line 41 of file HeartBeatMonitor.cpp.

void icl_hardware::canopen_schunk::HeartBeatMonitor::reset ( )

Resets the heartbeat monitor. This will make the monitor forget about all past heartbeats and start from scratch.

Definition at line 110 of file HeartBeatMonitor.cpp.

void icl_hardware::canopen_schunk::HeartBeatMonitor::setHeartBeatCycleTime ( const uint16_t heartbeat_cycle_time_ms ) [inline]

The HeartbeatMonitor checks for missing heartbeat messages with this cycle time. If the last heartbeat message for one node was received more than one cycle ago, the error function will be triggered. So basically, this cycle time should be greater than the smallest heartbeat time.

Parameters:

heartbeat_cycle_time_ms The cycle time in milliseconds

Definition at line 79 of file HeartBeatMonitor.h.

void icl_hardware::canopen_schunk::HeartBeatMonitor::start ( ) [private]

starts thread execution

Definition at line 97 of file HeartBeatMonitor.cpp.

void icl_hardware::canopen_schunk::HeartBeatMonitor::stop ( ) [private]

stops thread execution

Definition at line 91 of file HeartBeatMonitor.cpp.

void icl_hardware::canopen_schunk::HeartBeatMonitor::workerFunction ( ) [private]

Thread worker function for the Heartbeat monitor. This function will regularly check for missing heartbeat messages. If a heartbeat message is missing, m_error_function will be called.

Definition at line 47 of file HeartBeatMonitor.cpp.