BusInspectionUnit: Added topic for HAL cycle times

source/RobotAPI/components/units/BusInspectionUnit.cpp

@@ -32,13 +32,12 @@ using namespace armarx;
 void BusInspectionUnit::onInitComponent()
 {
     this->onInitBusInspectionUnit();
-    offeringTopic("HardwareValues");
+    offeringTopic("HALCycleTimes");
 }
 
 void BusInspectionUnit::onConnectComponent()
 {
-    busInspectionValuePrx = getTopic<BusInspectionInterfacePrx>("HardwareValues");
-    ARMARX_INFO << "subscribing topic: " << "HardwareValues";
+    busInspectionListenerPrx = getTopic<BusInspectionListenerPrx>("HALCycleTimes");
 
     this->onConnectBusInspectionUnit();
 }
@@ -92,8 +91,7 @@ std::string BusInspectionUnit::sendCommand(const std::string& command,  Ice::Int
 
 PropertyDefinitionsPtr BusInspectionUnit::createPropertyDefinitions()
 {
-    return PropertyDefinitionsPtr(new BusInspectionUnitPropertyDefinitions(
-                                      getConfigIdentifier()));
+    return PropertyDefinitionsPtr(new BusInspectionUnitPropertyDefinitions(getConfigIdentifier()));
 }
 
 #endif

source/RobotAPI/components/units/BusInspectionUnit.h

@@ -89,8 +89,7 @@ namespace armarx
 
     protected:
         std::string channel;
-        BusInspectionInterfacePrx busInspectionValuePrx; // gets commands from hardware
-
+        BusInspectionListenerPrx busInspectionListenerPrx;
     };
 }
 

source/RobotAPI/interface/hardware/BusInspectionInterface.ice

@@ -87,14 +87,19 @@ module armarx
         DeviceNames getDevicesOnBus(string bus) throws UnknownBusException;
         DeviceInformation getDeviceInformation(string device) throws UnknownDeviceException;
         int performDeviceOperation(BasicOperation operation, int device);
-	int performBusOperation(BasicOperation operation, string bus);
-	bool isInRealTimeMode();
+        int performBusOperation(BasicOperation operation, string bus);
+        bool isInRealTimeMode();
         string sendCommand(string command, int device) throws UnknownCommandException;	
     };
 
     interface BusInspectionListener
     {
-
+        /**
+         * Report statistics on the cycle times of the underlying hardware abstraction layer
+         *
+         * Times are given in µs.
+         */
+        void reportCycleTimeStatistics(int averageCycleTime, int minCycleTime, int maxCycleTime);
     };
 };