view main/robots/odr-sim/ControllerStatus.h @ 231:783f69f37c64 main

Rework the simulator to better reflect the new/different nodes in the real hardware.
author Bob Cook <bob@bobcookdev.com>
date Sat, 12 Jul 2014 17:22:55 -0700
parents 2cb5b8e5f3b3
children
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// ----------------------------------------------------------------------------------------
//
//  robots/odr-sim/ControllerStatus.h
//    
//  Bob Cook Development, Robotics Library
//  http://www.bobcookdev.com/rl/
// 
//  Thread that periodically checks status and issues "heartbeat" messages.
//
//  Copyright (c) 2011-2014 Bob Cook
//
//  Permission is hereby granted, free of charge, to any person obtaining a copy
//  of this software and associated documentation files (the "Software"), to deal
//  in the Software without restriction, including without limitation the rights
//  to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
//  copies of the Software, and to permit persons to whom the Software is
//  furnished to do so, subject to the following conditions:
//
//  The above copyright notice and this permission notice shall be included in
//  all copies or substantial portions of the Software.
//
//  THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
//  IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
//  FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
//  AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
//  LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
//  OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
//  THE SOFTWARE.
//
// ----------------------------------------------------------------------------------------

#ifndef BCDRL_ROBOTS_ODRSIM_CONTROLLERSTATUS_H
#define BCDRL_ROBOTS_ODRSIM_CONTROLLERSTATUS_H

#include <Poco/Event.h>
#include <Poco/Runnable.h>
#include <Poco/RWLock.h>

// ----------------------------------------------------------------------------------------

class ControllerStatus : public Poco::Runnable
{
    public:
        static void setDisplayAlive( bool alive );
        static void setGpsAlive( bool alive );
        static void setImuAlive( bool alive );
        static void setMotionAlive( bool alive );
        static void setSonarFrontAlive( bool alive );

    public:
        ControllerStatus();
        virtual ~ControllerStatus();
        virtual void run();
        void timeToQuit();

    private:
        static Poco::RWLock sm_rwLock;
        static bool         sm_isDisplayAlive;
        static bool         sm_isGpsAlive;
        static bool         sm_isImuAlive;
        static bool         sm_isMotionAlive;
        static bool         sm_isSonarFrontAlive;

    private:
        Poco::Event m_quitEvent;
};

// ----------------------------------------------------------------------------------------
#endif // #ifndef BCDRL_ROBOTS_ODRSIM_CONTROLLERSTATUS_H
// ----------------------------------------------------------------------------------------