Obbart/RoboGlue_QT
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Corretta gestione Heartbeat

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This commit is contained in:
Emanuele
2019-11-05 16:47:55 +01:00
parent 64a4b9b122
commit bf368d6ac6
6 changed files with 22 additions and 12 deletions
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2
RoboGlue.pro.user
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@@ -1,6 +1,6 @@
<?xml version="1.0" encoding="UTF-8"?> <?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE QtCreatorProject> <!DOCTYPE QtCreatorProject>
<!-- Written by QtCreator 4.8.2, 2019-11-04T15:40:48. --> <!-- Written by QtCreator 4.8.2, 2019-11-05T16:47:40. -->
<qtcreator> <qtcreator>
<data> <data>
<variable>EnvironmentId</variable> <variable>EnvironmentId</variable>

11
com/mqtt_callback.cpp
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@@ -31,17 +31,20 @@ void mqtt_callback::message_arrived(mqtt::const_message_ptr msg) {
intMsg[mem_->comSettings.TS]); intMsg[mem_->comSettings.TS]);
if (!intMsg[mem_->comSettings.NODE].compare(mem_->comSettings.nodeNames["relay"])){ if (!intMsg[mem_->comSettings.NODE].compare(mem_->comSettings.nodeNames["relay"])){
mem_->commonStatus.relayRunning = true; mem_->commonStatus.relayRunning = true;
mem_->commonStatus.relayLast = fabs(mem_->commonStatus.relayLast - std::stod(intMsg[mem_->comSettings.TS])); mem_->commonStatus.relayLast = std::stod(intMsg[mem_->comSettings.TS]);
log_->trace("HB RELAY time: [{}]", mem_->commonStatus.relayLast);
} else if (!intMsg[mem_->comSettings.NODE].compare(mem_->comSettings.nodeNames["follower"])) { } else if (!intMsg[mem_->comSettings.NODE].compare(mem_->comSettings.nodeNames["follower"])) {
mem_->commonStatus.followerRunning = true; mem_->commonStatus.followerRunning = true;
mem_->commonStatus.followerLast = fabs(mem_->commonStatus.followerLast - std::stod(intMsg[mem_->comSettings.TS])); mem_->commonStatus.followerLast = std::stod(intMsg[mem_->comSettings.TS]);
log_->trace("HB FOLLOWER time: [{}]", mem_->commonStatus.followerLast);
} else if (!intMsg[mem_->comSettings.NODE].compare(mem_->comSettings.nodeNames["recorder"])) { } else if (!intMsg[mem_->comSettings.NODE].compare(mem_->comSettings.nodeNames["recorder"])) {
mem_->commonStatus.recorderRunning = true; mem_->commonStatus.recorderRunning = true;
mem_->commonStatus.recorderLast = fabs(mem_->commonStatus.recorderLast - std::stod(intMsg[mem_->comSettings.TS])); mem_->commonStatus.recorderLast = std::stod(intMsg[mem_->comSettings.TS]);
log_->trace("HB RECORDER time: [{}]", mem_->commonStatus.recorderLast);
} else { } else {
log_->error("Node {} unknown", intMsg[mem_->comSettings.NODE].c_str()); log_->error("Node {} unknown", intMsg[mem_->comSettings.NODE].c_str());
} }
emit mem_->commonStatusChange(); //emit mem_->commonStatusChange();
} }
} else if (msg->get_topic() == mem_->comSettings.subMap.find("state")->second){ } else if (msg->get_topic() == mem_->comSettings.subMap.find("state")->second){
log_->debug("MQTT: State Message: {}", msg->get_payload().c_str()); log_->debug("MQTT: State Message: {}", msg->get_payload().c_str());

2
com/roboglue_com.cpp
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@@ -6,7 +6,7 @@ RoboGlue_COM::RoboGlue_COM (RoboGlue_SHARED *mem): m(mem) {
liblog = spdlog::stdout_logger_mt("URcom_liblog"); liblog = spdlog::stdout_logger_mt("URcom_liblog");
modlog = spdlog::stdout_logger_mt("RoboGlue_comlog"); modlog = spdlog::stdout_logger_mt("RoboGlue_comlog");
liblog->set_level(spdlog::level::warn); liblog->set_level(spdlog::level::warn);
modlog->set_level(spdlog::level::info); modlog->set_level(spdlog::level::trace);
///////// INITIALIZE TCP SERVER /////////// ///////// INITIALIZE TCP SERVER ///////////
server = new QTcpServer(this); server = new QTcpServer(this);

12
gui/roboglue_gui.cpp
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@@ -92,13 +92,13 @@ void RoboGlue_GUI::disableLockAxes(){
void RoboGlue_GUI::on_commonStatusChange() { void RoboGlue_GUI::on_commonStatusChange() {
modlog->trace("on_commonStatusChange Received"); modlog->trace("on_commonStatusChange Received");
// TODO: aggiungere e interpretare le flag per capire se i nodi ros sono tutti vivi dall'heartbeat // TODO: aggiungere e interpretare le flag per capire se i nodi ros sono tutti vivi dall'heartbeat
this->ui->lbl_relay->setText(QString().fromStdString(std::to_string(m->commonStatus.relayLast))); this->ui->lbl_relay->setText(QString().fromStdString(std::to_string(m->commonStatus.relayTime)));
this->ui->lbl_follower->setText(QString().fromStdString(std::to_string(m->commonStatus.followerLast))); this->ui->lbl_follower->setText(QString().fromStdString(std::to_string(m->commonStatus.followerTime)));
this->ui->lbl_recorder->setText(QString().fromStdString(std::to_string(m->commonStatus.recorderLast))); this->ui->lbl_recorder->setText(QString().fromStdString(std::to_string(m->commonStatus.recorderTime)));
if(m->commonStatus.relayLast > m->comSettings.deadTime || if(m->commonStatus.relayTime > m->comSettings.deadTime ||
m->commonStatus.followerLast > m->comSettings.deadTime || m->commonStatus.followerTime > m->comSettings.deadTime ||
m->commonStatus.recorderLast > m->comSettings.deadTime) { m->commonStatus.recorderTime > m->comSettings.deadTime) {
this->ui->lbl_relay->setStyleSheet("QLabel { background-color : red; color : white; }"); 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_follower->setStyleSheet("QLabel { background-color : red; color : white; }");
this->ui->lbl_recorder->setStyleSheet("QLabel { background-color : red; color : white; }"); this->ui->lbl_recorder->setStyleSheet("QLabel { background-color : red; color : white; }");

4
shared/roboglue_shared.cpp
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@@ -15,6 +15,10 @@ RoboGlue_SHARED::~RoboGlue_SHARED(){
} }
void RoboGlue_SHARED::on_statusTimer(void){ void RoboGlue_SHARED::on_statusTimer(void){
double curTime = static_cast<double>(std::time(NULL));
commonStatus.relayTime = fabs(commonStatus.relayLast - curTime);
commonStatus.followerTime = fabs(commonStatus.followerLast - curTime);
commonStatus.recorderTime = fabs(commonStatus.recorderLast - curTime);
emit this->commonStatusChange(); emit this->commonStatusChange();
} }
//////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////

3
shared/roboglue_shared.h
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@@ -59,6 +59,9 @@ public:
double relayLast = 0.0; double relayLast = 0.0;
double followerLast = 0.0; double followerLast = 0.0;
double recorderLast = 0.0; double recorderLast = 0.0;
double relayTime = 0.0;
double followerTime = 0.0;
double recorderTime = 0.0;
} commonStatus; } commonStatus;
/////////// PERMANENT SETTINGS VARIABLES ///////// /////////// PERMANENT SETTINGS VARIABLES /////////