added heartbeat

source/RobotAPI/drivers/HokuyoLaserUnit/HokuyoLaserUnit.cpp

@@ -32,6 +32,8 @@ using namespace armarx;
 
 void HokuyoLaserUnit::onInitComponent()
 {
+    offeringTopic(getProperty<std::string>("RobotHealthTopicName").getValue());
+
     topicName = getProperty<std::string>("LaserScannerTopicName").getValue();
     offeringTopic(topicName);
     ARMARX_INFO << "Going to report on topic " << topicName;
@@ -75,6 +77,7 @@ void HokuyoLaserUnit::onInitComponent()
 
 void HokuyoLaserUnit::onConnectComponent()
 {
+    robotHealthTopic = getTopic<RobotHealthInterfacePrx>(getProperty<std::string>("LaserScannerTopicName").getValue());
     topic = getTopic<LaserScannerUnitListenerPrx>(topicName);
 
     if (task)
@@ -199,6 +202,7 @@ void HokuyoLaserUnit::updateScanData()
             }
 
             topic->reportSensorValues(device.ip, device.frame, scan, now);
+            robotHealthTopic->heartbeat(getName() + "_" + device.ip);
         }
     }
 }

source/RobotAPI/drivers/HokuyoLaserUnit/HokuyoLaserUnit.h

@@ -26,6 +26,7 @@
 #include <ArmarXCore/core/services/tasks/PeriodicTask.h>
 #include <RobotAPI/components/units/SensorActorUnit.h>
 #include <RobotAPI/interface/units/LaserScannerUnit.h>
+#include <RobotAPI/interface/components/RobotHealthInterface.h>
 
 #include <HokuyoLaserScannerDriver/urg_sensor.h>
 #include <vector>
@@ -47,6 +48,7 @@ namespace armarx
             defineOptionalProperty<int>("UpdatePeriod", 25, "Update period for laser scans");
             defineOptionalProperty<float>("AngleOffset", -2.3561944902, "Offset is applied the raw angles before reporting them");
             defineOptionalProperty<std::string>("Devices", "", "List of devices in form of 'IP1,port1,frame1;IP2,port2,frame2;...'");
+            defineOptionalProperty<std::string>("RobotHealthTopicName", "RobotHealthTopic", "Name of the RobotHealth topic");
         }
     };
 
@@ -125,6 +127,7 @@ namespace armarx
         std::vector<HokuyoLaserScanDevice> devices;
         PeriodicTask<HokuyoLaserUnit>::pointer_type task;
         LaserScannerInfoSeq connectedDevices;
+        RobotHealthInterfacePrx robotHealthTopic;
     };
 }