From 06fc4f52fa3012e63ab6d4aae221df46fd71fef2 Mon Sep 17 00:00:00 2001
From: Simon Ottenhaus <simon.ottenhaus@kit.edu>
Date: Mon, 17 Dec 2018 17:45:03 +0100
Subject: [PATCH] minimum report interval
---
source/RobotAPI/components/RobotHealth/RobotHealth.cpp | 4 +++-
source/RobotAPI/components/RobotHealth/RobotHealth.h | 4 ++++
.../GuiHealthClient/GuiHealthClientWidgetController.cpp | 3 +++
3 files changed, 10 insertions(+), 1 deletion(-)
diff --git a/source/RobotAPI/components/RobotHealth/RobotHealth.cpp b/source/RobotAPI/components/RobotHealth/RobotHealth.cpp
index 6f10dc4ab..24bc96c94 100644
--- a/source/RobotAPI/components/RobotHealth/RobotHealth.cpp
+++ b/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;
diff --git a/source/RobotAPI/components/RobotHealth/RobotHealth.h b/source/RobotAPI/components/RobotHealth/RobotHealth.h
index 65c086a35..cc50f09de 100644
--- a/source/RobotAPI/components/RobotHealth/RobotHealth.h
+++ b/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:
diff --git a/source/RobotAPI/gui-plugins/GuiHealthClient/GuiHealthClientWidgetController.cpp b/source/RobotAPI/gui-plugins/GuiHealthClient/GuiHealthClientWidgetController.cpp
index ccad68123..4b588f433 100644
--- a/source/RobotAPI/gui-plugins/GuiHealthClient/GuiHealthClientWidgetController.cpp
+++ b/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()
--
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