Aggiunte funzioni di lettura di Startup/Heartbeat

funzioni aggiunte nelle callback mqtt che segnalano il cambiamento con
l'emit di commonStatusChange

shared/roboglue_shared.cpp

@@ -13,6 +13,10 @@ RoboGlue_SHARED::RoboGlue_SHARED(QSettings *set){
     comSettings.pubMap["coordinates"] = "roboglue_com/com2ros/coordinates";
     comSettings.pubMap["state"] = "roboglue_com/com2ros/state";
     comSettings.pubMap["interface"] = "roboglue_com/com2ros/interface";
+
+    comSettings.nodeNames["relay"] = "roboglue_ros_relay";
+    comSettings.nodeNames["follower"] = "roboglue_ros_follower";
+    comSettings.nodeNames["recorder"] = "roboglue_ros_recorder";
 }
 ////////////////////////////////////////////////////////////////
 /////////////////////// RESTORE FUNCTIONS /////////////////////

shared/roboglue_shared.h

@@ -31,6 +31,7 @@
 #include <stdexcept>
 #include <libJson/json.hpp>
 #include <libURcom/URCLinterface.h>
+#include <boost/algorithm/string.hpp>
 
 using namespace nlohmann;
 
@@ -47,6 +48,14 @@ public:
         bool isPlaying = false;
         bool isRealtime = false;
         bool isFileOpen = false;
+        // ROS node status
+        bool relayRunning = false;
+        bool followerRunning = false;
+        bool recorderRunning = false;
+        // ROS node last seen
+        double relayLast = 0.0;
+        double followerLast = 0.0;
+        double recorderLast = 0.0;
     } commonStatus;
 
     /////////// PERMANENT SETTINGS VARIABLES /////////
@@ -79,10 +88,14 @@ public:
         } kine;
         std::map<std::string, std::string> subMap;
         std::map<std::string, std::string> pubMap;
+        std::map<std::string, std::string> nodeNames;
         //FIXME: riempire la mappa dinamicamente da un file, eliminare l'assegnazione manuale
         enum {
             COMM, COORD, STAT
         } tList;
+        enum {
+            TYPE, NODE, TS
+        };
     } comSettings;
 
     struct {