Merge branch 'feature/robot-health-updates' into 'master'

Feature/robot health updates

See merge request !374

scenarios/RobotHealthTest/RobotHealthTest.scx

 <?xml version="1.0" encoding="utf-8"?>
 <scenario name="RobotHealthTest" creation="2018-11-30.11:42:03" globalConfigName="./config/global.cfg" package="RobotAPI" deploymentType="local" nodeName="NodeMain">
-	<application name="RobotHealthApp" instance="" package="RobotAPI" nodeName="" enabled="true" iceAutoRestart="false"/>
+	<application name="RobotHealthApp" instance="" package="RobotAPI" nodeName="" enabled="false" iceAutoRestart="false"/>
 	<application name="RobotHealthDummyApp" instance="HealthDummy1" package="RobotAPI" nodeName="" enabled="true" iceAutoRestart="false"/>
 	<application name="RobotHealthDummyApp" instance="HealthDummy2" package="RobotAPI" nodeName="" enabled="true" iceAutoRestart="false"/>
 </scenario>

scenarios/RobotHealthTest/config/RobotHealthApp.cfg

@@ -18,7 +18,7 @@
 # ArmarX.ApplicationName = ""
 
 
-# ArmarX.CachePath:  Path for cache files. If relative path AND env. variable ARMARX_USER_CONFIG_DIR is set, the cache path will be made relative to ARMARX_USER_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${HOME}/.armarx)
+# ArmarX.CachePath:  Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
 #  Attributes:
 #  - Default:            mongo/.cache
 #  - Case sensitivity:   yes
@@ -109,20 +109,12 @@
 # ArmarX.RemoteHandlesDeletionTimeout = 3000
 
 
-# ArmarX.RobotHealth.AggregatedRobotHealthTopicName:  Name of the AggregatedRobotHealthTopic
+# ArmarX.RobotHealth.DebugObserverTopicName:  Name of the topic the DebugObserver listens on
 #  Attributes:
-#  - Default:            AggregatedRobotHealthTopic
+#  - Default:            DebugObserver
 #  - Case sensitivity:   yes
 #  - Required:           no
-# ArmarX.RobotHealth.AggregatedRobotHealthTopicName = AggregatedRobotHealthTopic
-
-
-# ArmarX.RobotHealth.EmergencyStopTopicName:  The name of the topic over which changes of the emergencyStopState are sent.
-#  Attributes:
-#  - Default:            EmergencyStop
-#  - Case sensitivity:   yes
-#  - Required:           no
-# ArmarX.RobotHealth.EmergencyStopTopicName = EmergencyStop
+# ArmarX.RobotHealth.DebugObserverTopicName = DebugObserver
 
 
 # ArmarX.RobotHealth.EnableProfiling:  enable profiler which is used for logging performance events
@@ -159,37 +151,36 @@
 # ArmarX.RobotHealth.MinimumLoggingLevel = Undefined
 
 
-# ArmarX.RobotHealth.ObjectName:  Name of IceGrid well-known object
+# ArmarX.RobotHealth.Name of the AggregatedRobotHealthTopic:  Name of the `AggregatedRobotHealth` topic to publish data to.
 #  Attributes:
-#  - Default:            ""
+#  - Default:            AggregatedRobotHealthTopic
 #  - Case sensitivity:   yes
 #  - Required:           no
-# ArmarX.RobotHealth.ObjectName = ""
+# ArmarX.RobotHealth.Name of the AggregatedRobotHealthTopic = AggregatedRobotHealthTopic
 
 
-# ArmarX.RobotHealth.ReportErrorsWithSpeech:  
+# ArmarX.RobotHealth.ObjectName:  Name of IceGrid well-known object
 #  Attributes:
-#  - Default:            true
+#  - Default:            ""
 #  - Case sensitivity:   yes
 #  - Required:           no
-#  - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.RobotHealth.ReportErrorsWithSpeech = true
+# ArmarX.RobotHealth.ObjectName = ""
 
 
-# ArmarX.RobotHealth.RequiredComponents:  Comma separated list of required components
+# ArmarX.RobotHealth.RequiredTags:  Tags that should be requested.
 #  Attributes:
 #  - Default:            ""
 #  - Case sensitivity:   yes
 #  - Required:           no
-# ArmarX.RobotHealth.RequiredComponents = ""
+# ArmarX.RobotHealth.RequiredTags = ""
 
 
-# ArmarX.RobotHealth.RobotHealthTopicName:  Name of the RobotHealth topic
+# ArmarX.RobotHealth.RobotHealthTopic:  Name of the RobotHealth topic
 #  Attributes:
 #  - Default:            RobotHealthTopic
 #  - Case sensitivity:   yes
 #  - Required:           no
-# ArmarX.RobotHealth.RobotHealthTopicName = RobotHealthTopic
+# ArmarX.RobotHealth.RobotHealthTopic = RobotHealthTopic
 
 
 # ArmarX.RobotHealth.RobotUnitName:  No Description
@@ -208,20 +199,12 @@ ArmarX.RobotHealth.RobotUnitName = RobotUnitSimulation
 ArmarX.RobotHealth.RobotUnitRequired = 0
 
 
-# ArmarX.RobotHealth.SpeechMinimumReportInterval:  Time that has to pass between reported messages in seconds.
+# ArmarX.RobotHealth.The name of the topic over which changes of the emergencyStopState are sent.:  Name of the `EmergencyStop` topic to publish data to.
 #  Attributes:
-#  - Default:            60
-#  - Case sensitivity:   yes
-#  - Required:           no
-# ArmarX.RobotHealth.SpeechMinimumReportInterval = 60
-
-
-# ArmarX.RobotHealth.TextToSpeechTopicName:  Name of the TextToSpeech topic
-#  Attributes:
-#  - Default:            TextToSpeech
+#  - Default:            EmergencyStop
 #  - Case sensitivity:   yes
 #  - Required:           no
-# ArmarX.RobotHealth.TextToSpeechTopicName = TextToSpeech
+# ArmarX.RobotHealth.The name of the topic over which changes of the emergencyStopState are sent. = EmergencyStop
 
 
 # ArmarX.SecondsStartupDelay:  The startup will be delayed by this number of seconds (useful for debugging)

scenarios/RobotHealthTest/config/RobotHealthDummyApp.HealthDummy1.cfg

@@ -18,7 +18,7 @@
 # ArmarX.ApplicationName = ""
 
 
-# ArmarX.CachePath:  Path for cache files. If relative path AND env. variable ARMARX_USER_CONFIG_DIR is set, the cache path will be made relative to ARMARX_USER_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${HOME}/.armarx)
+# ArmarX.CachePath:  Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
 #  Attributes:
 #  - Default:            mongo/.cache
 #  - Case sensitivity:   yes

scenarios/RobotHealthTest/config/RobotHealthDummyApp.HealthDummy2.cfg

@@ -18,7 +18,7 @@
 # ArmarX.ApplicationName = ""
 
 
-# ArmarX.CachePath:  Path for cache files. If relative path AND env. variable ARMARX_USER_CONFIG_DIR is set, the cache path will be made relative to ARMARX_USER_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${HOME}/.armarx)
+# ArmarX.CachePath:  Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
 #  Attributes:
 #  - Default:            mongo/.cache
 #  - Case sensitivity:   yes
@@ -148,7 +148,7 @@ ArmarX.RobotHealthDummy.ObjectName = HealthDummy2
 #  - Default:            nanosleep
 #  - Case sensitivity:   yes
 #  - Required:           no
-# ArmarX.RobotHealthDummy.SleepMode = nanosleep
+ArmarX.RobotHealthDummy.SleepMode = std::this_thread::sleep_for
 
 
 # ArmarX.SecondsStartupDelay:  The startup will be delayed by this number of seconds (useful for debugging)

source/RobotAPI/components/RobotHealth/RobotHealthDummy.cpp

@@ -80,7 +80,7 @@ namespace armarx
     }
 
     void
-    RobotHealthDummy::busydwait(long microseconds)
+    RobotHealthDummy::busywait(long microseconds)
     {
         long start = TimeUtil::GetTime().toMicroSeconds();
         auto end = start + microseconds;
@@ -95,51 +95,60 @@ namespace armarx
     {
         auto args = RobotHealthHeartbeatArgs();
         args.identifier = getName();
+        armarx::core::time::toIce(args.maximumCycleTimeError, armarx::core::time::Duration::MilliSeconds(1000));
+        armarx::core::time::toIce(args.maximumCycleTimeWarning, armarx::core::time::Duration::MilliSeconds(500));
         robotHealthTopicPrx->signUp(args);
 
         ARMARX_INFO << "starting rinning task";
         while (!dummyTask->isStopped())
         {
-            long beforeTopicCall = TimeUtil::GetTime().toMicroSeconds();
+            auto beforeTopicCall = armarx::core::time::DateTime::Now();
             //ARMARX_INFO << "send heartbeat";
 
             armarx::core::time::dto::DateTime now;
             armarx::core::time::toIce(now, armarx::core::time::DateTime::Now());
             robotHealthTopicPrx->heartbeat(getName(), now);
-            long afterTopicCall = TimeUtil::GetTime().toMicroSeconds();
+            auto afterTopicCall = armarx::core::time::DateTime::Now();
+
             if (sleepmode == "nanosleep")
             {
-                NanoSleep(10 * 1000 * 1000);
+                NanoSleep(10 * 1000 * 1000); // wait 10 milliseconds
             }
             else if (sleepmode == "sleepwait")
             {
-                sleepwait(10 * 1000);
+                sleepwait(10 * 1000); // wait 10 milliseconds
             }
             else if (sleepmode == "yieldwait")
             {
-                yieldwait(10 * 1000);
+                yieldwait(10 * 1000); // wait 10 milliseconds
             }
             else if (sleepmode == "busywait")
             {
-                busydwait(10 * 1000);
+                busywait(10 * 1000); // wait 10 milliseconds
+            }
+            else if (sleepmode == "std::this_thread::sleep_for")
+            {
+                std::this_thread::sleep_for(std::chrono::microseconds(10 * 1000));
             }
             else
             {
                 throw LocalException("Unknown sleepmode.");
             }
 
-            long afterSleep = TimeUtil::GetTime().toMicroSeconds();
-            long topicCallDelay = afterTopicCall - beforeTopicCall;
-            long sleepDelay = afterSleep - afterTopicCall;
-            if (sleepDelay > 20000)
+            auto afterSleep = armarx::core::time::DateTime::Now();
+            auto topicCallDelay = afterTopicCall - beforeTopicCall;
+            auto sleepDelay = afterSleep - afterTopicCall;
+            if (sleepDelay.toMicroSeconds() > 20000)
             {
-                ARMARX_IMPORTANT << sleepmode << ": " << sleepDelay << "us";
+                ARMARX_IMPORTANT << sleepmode << " took long: " << sleepDelay << "us";
             }
-            if (topicCallDelay > 1000)
+            if (topicCallDelay.toMicroSeconds() > 1000)
             {
-                ARMARX_IMPORTANT << "topic: " << topicCallDelay << "us";
+                ARMARX_IMPORTANT << "topic took long: " << topicCallDelay << "us";
             }
         }
+
+        robotHealthTopicPrx->unregister(args.identifier);
     }
 
     void

source/RobotAPI/components/RobotHealth/RobotHealthDummy.h

@@ -78,7 +78,7 @@ namespace armarx
 
         int NanoSleep(long nanosec);
         void yieldwait(long microseconds);
-        void busydwait(long microseconds);
+        void busywait(long microseconds);
         void sleepwait(long microseconds);
 
     protected: