Orca Robotics

00001 /*
00002  * Orca-Robotics Project: Components for robotics 
00003  *               http://orca-robotics.sf.net/
00004  * Copyright (c) 2004-2008 Alex Brooks, Alexei Makarenko, Tobias Kaupp
00005  *
00006  * This copy of Orca is licensed to you under the terms described in
00007  * the LICENSE file included in this distribution.
00008  *
00009  */
00010 
00011 #ifndef ORCAICE_HEARTBEATER_H
00012 #define ORCAICE_HEARTBEATER_H
00013 
00014 #include <orcaice/context.h>
00015 #include <gbxsickacfr/gbxiceutilacfr/timer.h>
00016 #include <string>
00017 
00018 namespace orcaice {
00019 
00025 class Heartbeater
00026 {
00027 
00028 public: 
00029     // we only need Tracer here, not the whole context
00030     Heartbeater( const orcaice::Context & context, double secBetweenHeartbeats = 10.0, double urgencyDivider=4.0 );
00031 
00033     bool isHeartbeatTime();
00034 
00036     bool isHeartbeatTimeUrgent();
00037 
00039     void beat( const std::string &heartbeatMessage );
00040 
00041 private: 
00042 
00043 //     orca::Time lastHeartbeatTime_;
00044     gbxsickacfr::gbxiceutilacfr::Timer timer_;
00045 
00046     double secBetweenHeartbeats_;
00047     double urgencyDivider_;
00048 
00049     gbxsickacfr::gbxutilacfr::Tracer& tracer_;
00050 };
00051 
00052 }
00053 
00054 #endif
heartbeater.h
