HeartBeat.h

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/* ============================================================
 *
 * This file is a part of CCA project
 *
 * Copyright (C) 2011 by Arne Nordmann <anordman at cor-lab dot uni-bielefeld dot de>
 *
 * This file may be licensed under the terms of the
 * GNU Lesser General Public License Version 3 (the ``LGPL''),
 * or (at your option) any later version.
 *
 * Software distributed under the License is distributed
 * on an ``AS IS'' basis, WITHOUT WARRANTY OF ANY KIND, either
 * express or implied. See the LGPL for the specific language
 * governing rights and limitations.
 *
 * You should have received a copy of the LGPL along with this
 * program. If not, go to http://www.gnu.org/licenses/lgpl.html
 * or write to the Free Software Foundation, Inc.,
 * 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
 *
 * The development of this software was supported by:
 *   CoR-Lab, Research Institute for Cognition and Robotics
 *     Bielefeld University
 *
 * ============================================================ */

#pragma once

#include <boost/shared_ptr.hpp>

#include <rsc/logging/LoggerFactory.h>
#include <rsc/threading/PeriodicTask.h>

#include "cca/timing/BeatProvider.h"
#include "cca/timing/Tick.h"

namespace cca {
namespace timing {

class HeartBeat;
typedef ::boost::shared_ptr<HeartBeat> HeartBeatPtr;

class HeartBeat:
        public BeatProvider,
        public rsc::threading::PeriodicTask {
public:
    HeartBeat(unsigned int milliseconds,
            PortConfiguration::Transport transport = PortConfiguration::CCALocal);
    ~HeartBeat();

    std::string print() const;

    void execute();

    virtual unsigned int getCycleTime();

    virtual void run();

    virtual void run(unsigned int cycles) ;

    virtual void cancel();

    virtual bool isCancelRequested();

    static HeartBeatPtr LOCAL(unsigned int milliseconds = 10);

    static HeartBeatPtr REMOTE(unsigned int milliseconds = 10);

    static HeartBeatPtr LOCALREMOTE(unsigned int milliseconds = 10);

    friend std::ostream
    & operator<<(std::ostream& os, const HeartBeat& beat);

protected:
    unsigned int _cycletime;

    unsigned int _sequenceNumber;

private:
    rsc::logging::LoggerPtr logger;
};

}
}