Corretto calcolo del tempo heartbeat

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 /////////////////////

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