heartbeater.h

/*
 * Orca-Robotics Project: Components for robotics 
 *               http://orca-robotics.sf.net/
 * Copyright (c) 2004-2009 Alex Brooks, Alexei Makarenko, Tobias Kaupp
 *
 * This copy of Orca is licensed to you under the terms described in
 * the LICENSE file included in this distribution.
 *
 */

#ifndef ORCAICE_HEARTBEATER_H
#define ORCAICE_HEARTBEATER_H

#include <orcaice/context.h>
#include <gbxsickacfr/gbxiceutilacfr/timer.h>
#include <string>

namespace orcaice {

class Heartbeater
{

public: 
    // we only need Tracer here, not the whole context
    Heartbeater( const orcaice::Context & context, double secBetweenHeartbeats = 10.0, double urgencyDivider=4.0 );

    bool isHeartbeatTime();

    bool isHeartbeatTimeUrgent();

    void beat( const std::string &heartbeatMessage );

private: 

//     orca::Time lastHeartbeatTime_;
    gbxiceutilacfr::Timer timer_;

    double secBetweenHeartbeats_;
    double urgencyDivider_;

    gbxutilacfr::Tracer& tracer_;
};

}

#endif