126 lines
4.5 KiB
C++
126 lines
4.5 KiB
C++
#ifndef ARSERVERHANDLERCOMMMONITOR_H
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#define ARSERVERHANDLERCOMMMONITOR_H
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#include "Aria.h"
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#include "ArNetworking.h"
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/// Handler that enables the client to monitor communication to the robot server.
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/**
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* ArServerHandlerCommMonitor defines network packet handlers that simply verify
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* the communication between the robot and server.
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*
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* This class handles the following requests:
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* <ul>
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* <li>heartbeatTcp: Packet broadcast (TCP) periodically to confirm that
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* the server is alive.</li>
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* <li>heartbeatUdp: Packet broadcast (UDP) periodically to confirm that
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* the server is alive.</li>
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* <li>getHeartbeatInterval: Command to return the expected heartbeat interval.
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* Packet contains:
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* <ol>
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* <li>uByte4 : Interval (msecs)</li>
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* </ol>
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* <li>ackCommTcp: Command to acknowledge two-way communication over TCP.
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* An empty packet is returned.</li>
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* <li>ackCommUdp: Command to acknowledge two-way communication over UDP.
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* An empty packet is returned.</li>
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* </ul>
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**/
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class ArServerHandlerCommMonitor
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{
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public:
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enum {
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MIN_HEARTBEAT_INTERVAL = 100,
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DEFAULT_HEARTBEAT_INTERVAL = 500
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};
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protected:
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/// Name of the network packet broadcast (TCP) to confirm the server is alive.
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static const char *HEARTBEAT_TCP_PACKET_NAME;
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/// Name of the network packet broadcast (UDP) to confirm the server is alive.
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static const char *HEARTBEAT_UDP_PACKET_NAME;
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/// Name of the network packet to get the heartbeat interval.
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static const char *GET_HEARTBEAT_INTERVAL_PACKET_NAME;
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/// Name of the network packet to confirm TCP communication.
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static const char *ACK_COMM_TCP_PACKET_NAME;
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/// Name of the network packet to confirm UDP communication.
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static const char *ACK_COMM_UDP_PACKET_NAME;
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static const char *COMMAND_GROUP;
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static const char *NO_ARGS;
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public:
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/// Constructs a new handler to monitor communication between the robot server and client.
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/**
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* @param server the ArServerBase used to send/receive requests
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* @param heartBeatInterval How often to send a "heartbeat" packet to the client
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**/
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AREXPORT ArServerHandlerCommMonitor(ArServerBase *server,
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int heartbeatInterval = DEFAULT_HEARTBEAT_INTERVAL);
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/// Destructor
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AREXPORT virtual ~ArServerHandlerCommMonitor();
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// -----------------------------------------------------------------------------
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// Packet Handlers:
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// -----------------------------------------------------------------------------
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/// Handles the getHeartbeatInterval network packet.
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/**
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* @param client the ArServerClient * that sent the request
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* @param packet the ArNetPacket * that contains the request
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**/
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AREXPORT void handleGetHeartbeatInterval(ArServerClient *client, ArNetPacket *packet);
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/// Handles the ackCommTcp network packet.
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/**
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* @param client the ArServerClient * that sent the request
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* @param packet the ArNetPacket * that contains the request
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**/
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AREXPORT void handleAckCommTcp(ArServerClient *client, ArNetPacket *packet);
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/// Handles the ackCommUdp network packet.
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/**
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* @param client the ArServerClient * that sent the request
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* @param packet the ArNetPacket * that contains the request
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**/
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AREXPORT void handleAckCommUdp(ArServerClient *client, ArNetPacket *packet);
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/// Callback for the server cycle; broadcasts heartbeat packets when interval has elapsed.
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AREXPORT void cycleCallback();
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protected:
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/// Server from which requests are received
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ArServerBase *myServer;
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/// Number of msecs between heartbeat broadcasts
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int myHeartbeatInterval;
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/// Time that the last heartbeat packets were broadcast
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ArTime myLastHeartbeatTime;
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/// Callback for getting the heartbeat interval
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ArFunctor2C<ArServerHandlerCommMonitor,
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ArServerClient *, ArNetPacket *> myGetHeartbeatIntervalCB;
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/// Callback for replying to the ack request (UDP)
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ArFunctor2C<ArServerHandlerCommMonitor,
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ArServerClient *, ArNetPacket *> myAckCommUdpCB;
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/// Callback for replying to the ack request (TCP)
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ArFunctor2C<ArServerHandlerCommMonitor,
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ArServerClient *, ArNetPacket *> myAckCommTcpCB;
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/// Cycle callback executed to broadcast the heartbeat packets
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ArFunctorC<ArServerHandlerCommMonitor> myCycleCB;
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}; // end class ArServerHandlerCommMonitor
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#endif // ARSERVERHANDLERCOMMMONITOR_H
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