From 5c7caa3259ab0827e9415975da52400a2b9ae42f Mon Sep 17 00:00:00 2001
From: Emanuele <ema.trabattoni@gmail.com>
Date: Fri, 15 Nov 2019 14:49:45 +0100
Subject: [PATCH] Aggiunto nodo broadcaster a interfaccia e shared memory

---
 RoboGlue.pro.user          |  2 +-
 gui/roboglue_gui.cpp       |  6 +++++-
 shared/roboglue_shared.cpp |  3 +++
 shared/roboglue_shared.h   | 15 +++++++++------
 4 files changed, 18 insertions(+), 8 deletions(-)

diff --git a/RoboGlue.pro.user b/RoboGlue.pro.user
index 090363b..0d5c9f7 100644
--- a/RoboGlue.pro.user
+++ b/RoboGlue.pro.user
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE QtCreatorProject>
-<!-- Written by QtCreator 4.8.2, 2019-11-12T17:05:54. -->
+<!-- Written by QtCreator 4.8.2, 2019-11-14T17:08:08. -->
 <qtcreator>
  <data>
   <variable>EnvironmentId</variable>
diff --git a/gui/roboglue_gui.cpp b/gui/roboglue_gui.cpp
index 514f21f..4c1c6ec 100644
--- a/gui/roboglue_gui.cpp
+++ b/gui/roboglue_gui.cpp
@@ -95,17 +95,21 @@ void RoboGlue_GUI::on_commonStatusChange() {
     this->ui->lbl_relay->setText(QString().fromStdString(this->m->comSettings.nodeNames.find("relay")->second+": "+std::to_string(static_cast<uint>(m->commonStatus.relayTime))));
     this->ui->lbl_follower->setText(QString().fromStdString(this->m->comSettings.nodeNames.find("follower")->second+": "+std::to_string(static_cast<uint>(m->commonStatus.followerTime))));
     this->ui->lbl_recorder->setText(QString().fromStdString(this->m->comSettings.nodeNames.find("recorder")->second+": "+std::to_string(static_cast<uint>(m->commonStatus.recorderTime))));
+    this->ui->lbl_broadcaster->setText(QString().fromStdString(this->m->comSettings.nodeNames.find("broadcaster")->second+": "+std::to_string(static_cast<uint>(m->commonStatus.broadcasterTime))));
 
     if(m->commonStatus.relayTime > m->comSettings.deadTime ||
             m->commonStatus.followerTime > m->comSettings.deadTime ||
-            m->commonStatus.recorderTime > m->comSettings.deadTime) {
+            m->commonStatus.recorderTime > m->comSettings.deadTime ||
+            m->commonStatus.broadcasterTime > m->comSettings.deadTime) {
         this->ui->lbl_relay->setStyleSheet("QLabel { background-color : red; color : white; }");
         this->ui->lbl_follower->setStyleSheet("QLabel { background-color : red; color : white; }");
         this->ui->lbl_recorder->setStyleSheet("QLabel { background-color : red; color : white; }");
+        this->ui->lbl_broadcaster->setStyleSheet("QLabel { background-color : red; color : white; }");
     } else {
         this->ui->lbl_relay->setStyleSheet("QLabel { background-color : green; color : white; }");
         this->ui->lbl_follower->setStyleSheet("QLabel { background-color : green; color : white; }");
         this->ui->lbl_recorder->setStyleSheet("QLabel { background-color : green; color : white; }");
+        this->ui->lbl_broadcaster->setStyleSheet("QLabel { background-color : green; color : white; }");
     }
 }
 
diff --git a/shared/roboglue_shared.cpp b/shared/roboglue_shared.cpp
index 14fe524..a0d93ba 100644
--- a/shared/roboglue_shared.cpp
+++ b/shared/roboglue_shared.cpp
@@ -19,6 +19,7 @@ void RoboGlue_SHARED::on_statusTimer(void){
     commonStatus.relayTime = fabs(commonStatus.relayLast - curTime);
     commonStatus.followerTime = fabs(commonStatus.followerLast - curTime);
     commonStatus.recorderTime = fabs(commonStatus.recorderLast - curTime);
+    commonStatus.broadcasterTime = fabs(commonStatus.broadcasterLast - curTime);
     emit this->commonStatusChange();
 }
 ////////////////////////////////////////////////////////////////
@@ -88,6 +89,7 @@ void RoboGlue_SHARED::restoreComSettings() {
                  comSettings.nodeNames["relay"] = settings->value("relay").toString().toStdString();
                  comSettings.nodeNames["follower"] = settings->value("follower").toString().toStdString();
                  comSettings.nodeNames["recorder"] = settings->value("recorder").toString().toStdString();
+                 comSettings.nodeNames["broadcaster"] = settings->value("broadcaster").toString().toStdString();
              settings->endGroup();
          settings->endGroup();
     settings->endGroup();
@@ -153,6 +155,7 @@ void RoboGlue_SHARED::saveComSettings() {
                 settings->setValue("relay", QString().fromStdString(comSettings.nodeNames.find("relay")->second));
                 settings->setValue("follower", QString().fromStdString(comSettings.nodeNames.find("follower")->second));
                 settings->setValue("recorder", QString().fromStdString(comSettings.nodeNames.find("recorder")->second));
+                settings->setValue("broadcaster", QString().fromStdString(comSettings.nodeNames.find("broadcaster")->second));
             settings->endGroup();
         settings->endGroup();
     settings->endGroup();
diff --git a/shared/roboglue_shared.h b/shared/roboglue_shared.h
index cca73e8..e1e86a4 100644
--- a/shared/roboglue_shared.h
+++ b/shared/roboglue_shared.h
@@ -30,6 +30,7 @@
 #include <QSize>
 #include <QTimer>
 #include <stdexcept>
+#include <ctime>
 #include <libJson/json.hpp>
 #include <libURcom/URCLinterface.h>
 #include <boost/algorithm/string.hpp>
@@ -56,12 +57,14 @@ public:
         bool followerRunning = false;
         bool recorderRunning = false;
         // ROS node last seen
-        double relayLast = 0.0;
-        double followerLast = 0.0;
-        double recorderLast = 0.0;
-        double relayTime = 0.0;
-        double followerTime = 0.0;
-        double recorderTime = 0.0;
+        double relayLast = static_cast<double>(time(NULL));
+        double followerLast = static_cast<double>(time(NULL));
+        double recorderLast = static_cast<double>(time(NULL));
+        double broadcasterLast = static_cast<double>(time(NULL));
+        double relayTime = static_cast<double>(time(NULL));
+        double followerTime = static_cast<double>(time(NULL));
+        double recorderTime = static_cast<double>(time(NULL));
+        double broadcasterTime = static_cast<double>(time(NULL));
     } commonStatus;
 
     /////////// PERMANENT SETTINGS VARIABLES /////////