mtsWatchdogServer.h

Go to the documentation of this file.

/* -*- Mode: C++; tab-width: 4; indent-tabs-mode: nil; c-basic-offset: 4 -*-    */
/* ex: set filetype=cpp softtabstop=4 shiftwidth=4 tabstop=4 cindent expandtab: */

/*
 Author(s):  Marcin Balicki
 Created on: 2014

 (C) Copyright 2014 Johns Hopkins University (JHU), All Rights Reserved.

--- begin cisst license - do not edit ---

This software is provided "as is" under an open source license, with
no warranty.  The complete license can be found in license.txt and
http://www.cisst.org/cisst/license.txt.

--- end cisst license ---
*/
#ifndef _mtsWatchdogServer_h
#define _mtsWatchdogServer_h

#include <cisstCommon/cmnGenericObject.h>
#include <cisstOSAbstraction/osaStopwatch.h>
#include <cisstMultiTask/mtsForwardDeclarations.h>


class mtsWatchdogServer: public cmnGenericObject {
    // used to control the log level, "Run Error" by default
    CMN_DECLARE_SERVICES(CMN_NO_DYNAMIC_CREATION, CMN_LOG_LOD_RUN_ERROR);
protected:
    osaStopwatch StopWatch;
    double Timeout;

    mtsFunctionWrite * WatchdogReadBool;
    mtsFunctionWrite * WatchdogWriteBool;

    bool IsOK;

    //if false then it was remotely updated
    //set to true locally as an acknowledgment
    bool WatchdogState;

public:
    mtsWatchdogServer(void):
        Timeout(0),
        IsOK(false),
        WatchdogState(true)
    {};
  
    ~mtsWatchdogServer(){};

    void AddToProvidedInterface(mtsInterfaceProvided & provInt, mtsStateTable & stateTable);

    void SetTimeoutPeriod(const double & seconds) {
        Timeout = seconds;
    }

    void Start(void);

    //true if everything is ok;
    bool CheckAndUpdate(void);
    void Reset(void);
};

CMN_DECLARE_SERVICES_INSTANTIATION(mtsWatchdogServer);

#endif // _mtsWatchdogServer_h