From 64a4b9b122e3aa8823516073003fd9407efd3760 Mon Sep 17 00:00:00 2001
From: Emanuele <ema.trabattoni@gmail.com>
Date: Tue, 5 Nov 2019 16:15:53 +0100
Subject: [PATCH] Corretto calcolo del tempo heartbeat

---
 com/mqtt_callback.cpp      |  6 +++---
 shared/roboglue_shared.cpp | 12 ++++++++++++
 shared/roboglue_shared.h   |  6 ++++++
 3 files changed, 21 insertions(+), 3 deletions(-)

diff --git a/com/mqtt_callback.cpp b/com/mqtt_callback.cpp
index e389dc3..7a20cab 100644
--- a/com/mqtt_callback.cpp
+++ b/com/mqtt_callback.cpp
@@ -31,13 +31,13 @@ void mqtt_callback::message_arrived(mqtt::const_message_ptr msg) {
                         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]);
+                mem_->commonStatus.relayLast = fabs(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]);
+                mem_->commonStatus.followerLast = fabs(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]);
+                mem_->commonStatus.recorderLast = fabs(mem_->commonStatus.recorderLast - std::stod(intMsg[mem_->comSettings.TS]));
             } else {
                 log_->error("Node {} unknown", intMsg[mem_->comSettings.NODE].c_str());
             }
diff --git a/shared/roboglue_shared.cpp b/shared/roboglue_shared.cpp
index 11240fb..b0e6a10 100644
--- a/shared/roboglue_shared.cpp
+++ b/shared/roboglue_shared.cpp
@@ -4,6 +4,18 @@ RoboGlue_SHARED::RoboGlue_SHARED(QSettings *set){
     settings=set;
     //FIXME: inserire la lettura di quesste informazioni da un file
     robotVariables.insert(std::pair<std::string, int>("RDY",1));
+    statusTimer = new QTimer(this);
+    connect(statusTimer, SIGNAL(timeout()), this, SLOT(on_statusTimer()));
+    statusTimer->start(static_cast<int>(comSettings.deadTime*1000));
+}
+
+RoboGlue_SHARED::~RoboGlue_SHARED(){
+    statusTimer->stop();
+    delete statusTimer;
+}
+
+void RoboGlue_SHARED::on_statusTimer(void){
+    emit this->commonStatusChange();
 }
 ////////////////////////////////////////////////////////////////
 /////////////////////// RESTORE FUNCTIONS /////////////////////
diff --git a/shared/roboglue_shared.h b/shared/roboglue_shared.h
index 74b7098..9ca7649 100644
--- a/shared/roboglue_shared.h
+++ b/shared/roboglue_shared.h
@@ -28,6 +28,7 @@
 #include <QSettings>
 #include <QPoint>
 #include <QSize>
+#include <QTimer>
 #include <stdexcept>
 #include <libJson/json.hpp>
 #include <libURcom/URCLinterface.h>
@@ -40,7 +41,9 @@ class RoboGlue_SHARED : public QObject{
 
 public:
     RoboGlue_SHARED(QSettings *set);
+    virtual ~RoboGlue_SHARED();
     QMutex mutex;
+    QTimer* statusTimer;
 
     //////////// COMMON MODULES STATUS ///////////////
     struct {
@@ -130,6 +133,9 @@ public:
 
 signals:
     void commonStatusChange(void);
+
+private slots:
+    void on_statusTimer(void);
 };
 
 #endif // ROBOGLUE_SHARED_H