ArServerHandlerCommMonitor Class Reference

#include <ArServerHandlerCommMonitor.h>

List of all members.

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Detailed Description

Handler that enables the client to monitor communication to the robot server.

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 }
Public Member Functions
	ArServerHandlerCommMonitor (ArServerBase *server, int heartbeatInterval=DEFAULT_HEARTBEAT_INTERVAL)
	Constructs a new handler to monitor communication between the robot server and client.
void	cycleCallback ()
	Callback for the server cycle; broadcasts heartbeat packets when interval has elapsed.
void	handleAckCommTcp (ArServerClient *client, ArNetPacket *packet)
	Handles the ackCommTcp network packet.
void	handleAckCommUdp (ArServerClient *client, ArNetPacket *packet)
	Handles the ackCommUdp network packet.
void	handleGetHeartbeatInterval (ArServerClient *client, ArNetPacket *packet)
	Handles the getHeartbeatInterval network 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
	Name of the network packet to confirm TCP communication.
static const char *	ACK_COMM_UDP_PACKET_NAME
	Name of the network packet to confirm UDP communication.
static const char *	COMMAND_GROUP
static const char *	GET_HEARTBEAT_INTERVAL_PACKET_NAME
	Name of the network packet to get the heartbeat interval.
static const char *	HEARTBEAT_TCP_PACKET_NAME
	Name of the network packet broadcast (TCP) to confirm the server is alive.
static const char *	HEARTBEAT_UDP_PACKET_NAME
	Name of the network packet broadcast (UDP) to confirm the server is alive.
static const char *	NO_ARGS

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Constructor & Destructor Documentation

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

Constructs a new handler to monitor communication between the robot server and client.

Parameters:

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

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Member Function Documentation

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

Handles the ackCommTcp network packet.

Parameters:

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

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

Handles the ackCommUdp network packet.

Parameters:

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

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

Handles the getHeartbeatInterval network packet.

Parameters:

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

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

• ArServerHandlerCommMonitor.h

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