ArServerHandlerCommMonitor Class Reference

#include <ArServerHandlerCommMonitor.h>

List of all members.

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Detailed Description

ArServerHandlerCommMonitor defines network packet handlers that simply verify the communication between the robot and server.

This class handles the following requests:

• heartbeatTcp: Packet broadcast (TCP) periodically to confirm that the server is alive.
• heartbeatUdp: Packet broadcast (UDP) periodically to confirm that the server is alive.
• getHeartbeatInterval: Command to return the expected heartbeat interval. Packet contains:
  1. uByte4 : Interval (msecs)
• ackCommTcp: Command to acknowledge two-way communication over TCP. An empty packet is returned.
• ackCommUdp: Command to acknowledge two-way communication over UDP. An empty packet is returned.

Public Types
enum	{ MIN_HEARTBEAT_INTERVAL = 100, DEFAULT_HEARTBEAT_INTERVAL = 500 }
	DEFAULT_HEARTBEAT_INTERVAL = 500
	MIN_HEARTBEAT_INTERVAL = 100
Public Member Functions
	ArServerHandlerCommMonitor (ArServerBase *server, int heartbeatInterval=DEFAULT_HEARTBEAT_INTERVAL)
void	cycleCallback ()
	Callback for the server cycle; broadcasts heartbeat packets when interval has elapsed.
void	handleAckCommTcp (ArServerClient *client, ArNetPacket *packet)
void	handleAckCommUdp (ArServerClient *client, ArNetPacket *packet)
void	handleGetHeartbeatInterval (ArServerClient *client, ArNetPacket *packet)
virtual	~ArServerHandlerCommMonitor ()
	Destructor.
Protected Attributes
ArFunctor2C< ArServerHandlerCommMonitor, ArServerClient *, ArNetPacket * >	myAckCommTcpCB
	Callback for replying to the ack request (TCP).
ArFunctor2C< ArServerHandlerCommMonitor, ArServerClient *, ArNetPacket * >	myAckCommUdpCB
	Callback for replying to the ack request (UDP).
ArFunctorC< ArServerHandlerCommMonitor >	myCycleCB
	Cycle callback executed to broadcast the heartbeat packets.
ArFunctor2C< ArServerHandlerCommMonitor, ArServerClient *, ArNetPacket * >	myGetHeartbeatIntervalCB
	Callback for getting the heartbeat interval.
int	myHeartbeatInterval
	Number of msecs between heartbeat broadcasts.
ArTime	myLastHeartbeatTime
	Time that the last heartbeat packets were broadcast.
ArServerBase *	myServer
	Server from which requests are received.
Static Protected Attributes
static const char *	ACK_COMM_TCP_PACKET_NAME = "ackCommTcp"
	Name of the network packet to confirm TCP communication.
static const char *	ACK_COMM_UDP_PACKET_NAME = "ackCommUdp"
	Name of the network packet to confirm UDP communication.
static const char *	COMMAND_GROUP = "RobotInfo"
static const char *	GET_HEARTBEAT_INTERVAL_PACKET_NAME = "getHeartbeatInterval"
	Name of the network packet to get the heartbeat interval.
static const char *	HEARTBEAT_TCP_PACKET_NAME = "heartbeatTcp"
	Name of the network packet broadcast (TCP) to confirm the server is alive.
static const char *	HEARTBEAT_UDP_PACKET_NAME = "heartbeatUdp"
	Name of the network packet broadcast (UDP) to confirm the server is alive.
static const char *	NO_ARGS = "None"

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Member Enumeration Documentation

anonymous enum

Enumerator:

MIN_HEARTBEAT_INTERVAL
DEFAULT_HEARTBEAT_INTERVAL

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Constructor & Destructor Documentation

ArServerHandlerCommMonitor::ArServerHandlerCommMonitor	(	ArServerBase *	server,
		int	heartbeatInterval = DEFAULT_HEARTBEAT_INTERVAL
	)

Parameters:

	server	the ArServerBase used to send/receive requests
	heartBeatInterval	How often to send a "heartbeat" packet to the client

ArServerHandlerCommMonitor::~ArServerHandlerCommMonitor

(

)

[virtual]

Destructor.

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Member Function Documentation

void ArServerHandlerCommMonitor::cycleCallback

(

)

Callback for the server cycle; broadcasts heartbeat packets when interval has elapsed.

void ArServerHandlerCommMonitor::handleAckCommTcp	(	ArServerClient *	client,
		ArNetPacket *	packet
	)

Parameters:

	client	the ArServerClient * that sent the request
	packet	the ArNetPacket * that contains the request

void ArServerHandlerCommMonitor::handleAckCommUdp	(	ArServerClient *	client,
		ArNetPacket *	packet
	)

Parameters:

	client	the ArServerClient * that sent the request
	packet	the ArNetPacket * that contains the request

void ArServerHandlerCommMonitor::handleGetHeartbeatInterval	(	ArServerClient *	client,
		ArNetPacket *	packet
	)

Parameters:

	client	the ArServerClient * that sent the request
	packet	the ArNetPacket * that contains the request

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Member Data Documentation

const char * ArServerHandlerCommMonitor::ACK_COMM_TCP_PACKET_NAME = "ackCommTcp" [static, protected]

Name of the network packet to confirm TCP communication.

const char * ArServerHandlerCommMonitor::ACK_COMM_UDP_PACKET_NAME = "ackCommUdp" [static, protected]

Name of the network packet to confirm UDP communication.

const char * ArServerHandlerCommMonitor::COMMAND_GROUP = "RobotInfo" [static, protected]

const char * ArServerHandlerCommMonitor::GET_HEARTBEAT_INTERVAL_PACKET_NAME = "getHeartbeatInterval" [static, protected]

Name of the network packet to get the heartbeat interval.

const char * ArServerHandlerCommMonitor::HEARTBEAT_TCP_PACKET_NAME = "heartbeatTcp" [static, protected]

Name of the network packet broadcast (TCP) to confirm the server is alive.

const char * ArServerHandlerCommMonitor::HEARTBEAT_UDP_PACKET_NAME = "heartbeatUdp" [static, protected]

Name of the network packet broadcast (UDP) to confirm the server is alive.

ArFunctor2C<ArServerHandlerCommMonitor, ArServerClient *, ArNetPacket *> ArServerHandlerCommMonitor::myAckCommTcpCB [protected]

Callback for replying to the ack request (TCP).

ArFunctor2C<ArServerHandlerCommMonitor, ArServerClient *, ArNetPacket *> ArServerHandlerCommMonitor::myAckCommUdpCB [protected]

Callback for replying to the ack request (UDP).

ArFunctorC<ArServerHandlerCommMonitor> ArServerHandlerCommMonitor::myCycleCB [protected]

Cycle callback executed to broadcast the heartbeat packets.

ArFunctor2C<ArServerHandlerCommMonitor, ArServerClient *, ArNetPacket *> ArServerHandlerCommMonitor::myGetHeartbeatIntervalCB [protected]

Callback for getting the heartbeat interval.

int ArServerHandlerCommMonitor::myHeartbeatInterval [protected]

Number of msecs between heartbeat broadcasts.

ArTime ArServerHandlerCommMonitor::myLastHeartbeatTime [protected]

Time that the last heartbeat packets were broadcast.

ArServerBase* ArServerHandlerCommMonitor::myServer [protected]

Server from which requests are received.

const char * ArServerHandlerCommMonitor::NO_ARGS = "None" [static, protected]

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The documentation for this class was generated from the following files:

• ArServerHandlerCommMonitor.h
• ArServerHandlerCommMonitor.cpp

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