heartbeat.cpp

Go to the documentation of this file.

/*************************************************************************
 *   Copyright (C) 2009 by Markus Knapp                                  *
 *   www.direcs.de                                                       *
 *                                                                       *
 *   This file is part of direcs.                                        *
 *                                                                       *
 *   direcs is free software: you can redistribute it and/or modify it   *
 *   under the terms of the GNU General Public License as published      *
 *   by the Free Software Foundation, version 3 of the License.          *
 *                                                                       *
 *   direcs is distributed in the hope that it will be useful,           *
 *   but WITHOUT ANY WARRANTY; without even the implied warranty of      *
 *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the        *
 *   GNU General Public License for more details.                        *
 *                                                                       *
 *   You should have received a copy of the GNU General Public License   *
 *   along with direcs. If not, see <http://www.gnu.org/licenses/>.      *
 *                                                                       *
 *************************************************************************/

#include "heartbeat.h"


Heartbeat::Heartbeat(InterfaceAvr *i, QMutex *m) : QThread()
{
        // copy the pointer from the original object
        interface1 = i;
        mutex = m;

        stopped = false;
        initDone = false;
        robotIsOn = false;
}


Heartbeat::~Heartbeat()
{
}


void Heartbeat::stop()
{
        stopped = true;
}


void Heartbeat::run()
{
        if (initDone==false)
        {
                //init();
        }

        //
        //  start "threading"...
        //
        while (!stopped)
        {
                // Lock the mutex. If another thread has locked the mutex then this call will block until that thread has unlocked it.
                mutex->lock();
                
                //-------------------------------------------------------
                // Basic init for all the bits on the robot circuit
                //-------------------------------------------------------
                if (interface1->sendChar(111) == true)
                {
                                // Unlock the mutex
                                mutex->unlock();
                }
                
                // Unlock the mutex.
                mutex->unlock();
        
        } // while !stopped
        
        
        stopped = false;
}


bool Heartbeat::isConnected(void)
{
        return robotIsOn;
}


void Heartbeat::init()
{
        //if ( (cameraIsOn == true) && (initDone == false) )
        if (initDone == false)
        {
                // do only *one* init!
                initDone = true;

                //-----------------
                // try to connect
                //-----------------
                
                if (0)
                {
                        qDebug("INFO: could not initialize blablabla");
                        robotIsOn = false;
                        stopped = true;
                        return;
                }
                
                robotIsOn = true;
        }
}


void Heartbeat::setRobotState(bool state)
{
        robotIsOn = state;
}