Aggiunte funzioni di lettura di Startup/Heartbeat

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

RoboGlue.pro.user

@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE QtCreatorProject>
-<!-- Written by QtCreator 4.8.2, 2019-10-29T10:42:37. -->
+<!-- Written by QtCreator 4.8.2, 2019-10-30T17:30:22. -->
 <qtcreator>
  <data>
   <variable>EnvironmentId</variable>

com/mqtt_callback.cpp

@@ -20,6 +20,29 @@ void mqtt_callback::message_arrived(mqtt::const_message_ptr msg) {
                msg->get_topic(), msg->to_string());
     if(msg->get_topic() == mem_->comSettings.subMap.find("interface")->second) {
         log_->debug("MQTT: Interface Message: {}", msg->get_payload().c_str());
+        // Gestione dei messaggi di interfaccia
+        std::vector<std::string> intMsg;
+        boost::split(intMsg, static_cast<const std::string>(msg->to_string()), boost::is_any_of(":"));
+        if (!intMsg[mem_->comSettings.TYPE].compare("STARTUP") ||
+                !intMsg[mem_->comSettings.TYPE].compare("HB")){
+            // Received Startup Message
+            log_->debug("Startup/Heartbeat from node, ts: {},[{}]",
+                       intMsg[mem_->comSettings.NODE].c_str(),
+                        intMsg[mem_->comSettings.TS]);
+            if (!intMsg[mem_->comSettings.NODE].compare(mem_->comSettings.nodeNames["relay"])){
+                mem_->commonStatus.relayRunning = true;
+                mem_->commonStatus.relayLast = std::stod(intMsg[mem_->comSettings.TS]);
+            } else if (!intMsg[mem_->comSettings.NODE].compare(mem_->comSettings.nodeNames["follower"])) {
+                mem_->commonStatus.followerRunning = true;
+                mem_->commonStatus.followerLast = std::stod(intMsg[mem_->comSettings.TS]);
+            } else if (!intMsg[mem_->comSettings.NODE].compare(mem_->comSettings.nodeNames["recorder"])) {
+                mem_->commonStatus.recorderRunning = true;
+                mem_->commonStatus.recorderLast = std::stod(intMsg[mem_->comSettings.TS]);
+            } else {
+                log_->error("Node {} unknown", intMsg[mem_->comSettings.NODE].c_str());
+            }
+            emit mem_->commonStatusChange();
+        }
     } else if (msg->get_topic() == mem_->comSettings.subMap.find("state")->second){
         log_->debug("MQTT: State Message: {}", msg->get_payload().c_str());
     } else if (msg->get_topic() == mem_->comSettings.subMap.find("commands")->second){

gui/roboglue_gui.cpp

@@ -26,6 +26,8 @@ RoboGlue_GUI::RoboGlue_GUI(RoboGlue_SHARED *mem) : m(mem) {
             this, SLOT(deleteLater()), Qt::ConnectionType::QueuedConnection);
     connect(this, SIGNAL(pad_hoverEvent(QEvent *)),
             this, SLOT(on_pad_hoverEvent(QEvent *)));
+    connect(m, SIGNAL(commonStatusChange()),
+            this, SLOT(on_commonStatusChange));
 
     /////// READ NAME DEFINITION JSON FILE //////////
     try {
@@ -89,6 +91,7 @@ void RoboGlue_GUI::disableLockAxes(){
 ////////////////////////////////////////////////
 void RoboGlue_GUI::on_commonStatusChange() {
     modlog->trace("on_commonStatusChange Received");
+    // TODO: aggiungere e interpretare le flag per capire se i nodi ros sono tutti vivi dall'heartbeat
 }
 
 void RoboGlue_GUI::on_pad_hoverEvent(QEvent* e) {

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 {