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status.h
00001 /* 00002 * GearBox Project: Peer-Reviewed Open-Source Libraries for Robotics 00003 * http://gearbox.sf.net/ 00004 * Copyright (c) 2004-2008 Alex Brooks, Alexei Makarenko, Tobias Kaupp 00005 * 00006 * This distribution is licensed to you under the terms described in 00007 * the LICENSE file included in this distribution. 00008 * 00009 */ 00010 00011 #ifndef GBXUTILACFR_STATUS_H 00012 #define GBXUTILACFR_STATUS_H 00013 00014 #include <string> 00015 #include <vector> 00016 00017 namespace gbxutilacfr { 00018 00020 enum SubsystemStatusType 00021 { 00023 SubsystemStatusInitialising, 00025 SubsystemStatusOk, 00027 SubsystemStatusWarning, 00029 SubsystemStatusFault, 00031 SubsystemStatusStalled 00032 }; 00033 00035 struct SubsystemStatus 00036 { 00038 SubsystemStatusType type; 00039 00041 std::string message; 00042 00046 float sinceHeartbeat; 00047 }; 00048 00084 class Status 00085 { 00086 00087 public: 00088 00089 virtual ~Status() {}; 00090 00103 virtual void addSubsystem( const std::string& subsystem, double maxHeartbeatIntervalSec=-1.0 )=0; 00104 00108 virtual void removeSubsystem( const std::string& subsystem )=0; 00109 00111 virtual std::vector<std::string> subsystems()=0; 00112 00115 virtual SubsystemStatus subsystemStatus( const std::string& subsystem )=0; 00116 00120 virtual void setMaxHeartbeatInterval( const std::string& subsystem, double intervalSec )=0; 00121 00124 virtual void initialising( const std::string& subsystem, const std::string& message="" )=0; 00125 00128 virtual void ok( const std::string& subsystem, const std::string& message="" )=0; 00129 00132 virtual void warning( const std::string& subsystem, const std::string& message )=0; 00133 00136 virtual void fault( const std::string& subsystem, const std::string& message )=0; 00137 00141 virtual void heartbeat( const std::string& subsystem )=0; 00142 00145 virtual void process()=0; 00146 }; 00147 00148 } // namespace 00149 00150 #endif
