minimum report interval

source/RobotAPI/components/RobotHealth/RobotHealth.cpp

@@ -33,6 +33,7 @@ void RobotHealth::onInitComponent()
     defaultMaximumCycleTimeErr = getProperty<int>("MaximumCycleTimeErrMS").getValue();
     usingTopic(getProperty<std::string>("RobotHealthTopicName").getValue());
     reportErrorsWithSpeech = getProperty<bool>("ReportErrorsWithSpeech").getValue();
+    speechMinimumReportInterval = getProperty<int>("SpeechMinimumReportInterval").getValue();
 
     //robotUnitRequired = getProperty<bool>("RobotUnitRequired").getValue();
     /*if(robotUnitRequired)
@@ -88,8 +89,9 @@ void RobotHealth::monitorHealthTaskClb()
             if (e.isRunning)
             {
                 ARMARX_ERROR << deactivateSpam(0.1, e.name) << "Component " << e.name << " has died.";
-                if (reportErrorsWithSpeech)
+                if (reportErrorsWithSpeech && (TimeUtil::GetTime() - lastSpeechOutput).toSecondsDouble() > speechMinimumReportInterval)
                 {
+                    lastSpeechOutput = TimeUtil::GetTime();
                     textToSpeechTopic->reportText("Oh no! Component " + e.name + " is no longer running.");
                 }
                 hasNewErr = true;

source/RobotAPI/components/RobotHealth/RobotHealth.h

@@ -54,6 +54,8 @@ namespace armarx
             defineOptionalProperty<std::string>("AggregatedRobotHealthTopicName", "AggregatedRobotHealthTopic", "Name of the AggregatedRobotHealthTopic");
             defineOptionalProperty<std::string>("RequiredComponents", "", "Comma separated list of required components");
 
+            defineOptionalProperty<int>("SpeechMinimumReportInterval", 60, "Time that has to pass between reported messages in seconds.");
+
             //defineOptionalProperty<std::string>("RemoteGuiName", "RemoteGuiProvider", "Name of the remote GUI provider");
             //defineOptionalProperty<std::string>("RobotUnitName", "Armar6Unit", "Name of the RobotUnit");
             //defineOptionalProperty<bool>("RobotUnitRequired", true, "Wait for RobotUnit");
@@ -150,6 +152,8 @@ namespace armarx
         AggregatedRobotHealthInterfacePrx aggregatedRobotHealthTopicPrx;
         TextListenerInterfacePrx textToSpeechTopic;
         bool reportErrorsWithSpeech;
+        int speechMinimumReportInterval;
+        IceUtil::Time lastSpeechOutput;
 
         // RobotHealthInterface interface
     public:

source/RobotAPI/gui-plugins/GuiHealthClient/GuiHealthClientWidgetController.cpp

@@ -68,6 +68,9 @@ void GuiHealthClientWidgetController::onInitComponent()
 
 void GuiHealthClientWidgetController::healthTimerClb()
 {
+    RobotHealthHeartbeatArgs rhha;
+    rhha.maximumCycleTimeWarningMS = 250;
+    rhha.maximumCycleTimeErrorMS = 500;
     robotHealthTopicPrx->heartbeat(getName(), RobotHealthHeartbeatArgs());
 }
 void GuiHealthClientWidgetController::updateSummaryTimerClb()