heartbeat.h

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/>.      *
 *                                                                       *
 *************************************************************************/

#ifndef HEARTBEAT_H
#define HEARTBEAT_H

//-------------------------------------------------------------------
#include "interfaceAvr.h"
#include <QThread>
#include <QMutex>
//-------------------------------------------------------------------

class Heartbeat : public QThread
{
    Q_OBJECT

        public:
                Heartbeat(InterfaceAvr *i, QMutex *m);
                ~Heartbeat();
                
                void init();

                bool isConnected(void);
                
                void stop();
                virtual void run();

                
        public slots:
                void setRobotState(bool state);


        signals:
                void alarm();


        private:
                bool initDone;
                volatile bool stopped;
                bool robotIsOn; 
                mutable QMutex *mutex; // make this class thread-safe
                InterfaceAvr *interface1;
                
                // Every thread sleeps some time, for having a bit more time for the other threads!
                // Time in milliseconds
                static const unsigned long THREADSLEEPTIME = 500; // Default: 500 ms
};

#endif