ArServerHandlerCommMonitor.h

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/*
MobileRobots Advanced Robotics Interface for Applications (ARIA)
Copyright (C) 2004, 2005 ActivMedia Robotics LLC
Copyright (C) 2006, 2007 MobileRobots Inc.

     This program is free software; you can redistribute it and/or modify
     it under the terms of the GNU General Public License as published by
     the Free Software Foundation; either version 2 of the License, or
     (at your option) any later version.

     This program is distributed in the hope that it will be useful,
     but WITHOUT ANY WARRANTY; without even the implied warranty of
     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
     GNU General Public License for more details.

     You should have received a copy of the GNU General Public License
     along with this program; if not, write to the Free Software
     Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

If you wish to redistribute ARIA under different terms, contact 
MobileRobots for information about a commercial version of ARIA at 
robots@mobilerobots.com or 
MobileRobots Inc, 19 Columbia Drive, Amherst, NH 03031; 800-639-9481
*/

#ifndef ARSERVERHANDLERCOMMMONITOR_H
#define ARSERVERHANDLERCOMMMONITOR_H

#include "Aria.h"

#include "ArNetworking.h"


class ArServerHandlerCommMonitor 
{
public:

  enum {
    MIN_HEARTBEAT_INTERVAL = 100,
    DEFAULT_HEARTBEAT_INTERVAL = 500
  };

  AREXPORT static const char *HEARTBEAT_TCP_PACKET_NAME;
  AREXPORT static const char *HEARTBEAT_UDP_PACKET_NAME;

  AREXPORT static const char *GET_HEARTBEAT_INTERVAL_PACKET_NAME;
  AREXPORT static const char *ACK_COMM_TCP_PACKET_NAME;
  AREXPORT static const char *ACK_COMM_UDP_PACKET_NAME;


  AREXPORT static const char *COMMAND_GROUP;
  AREXPORT static const char *NO_ARGS;



  AREXPORT ArServerHandlerCommMonitor(ArServerBase *server,
                                      int heartbeatInterval = DEFAULT_HEARTBEAT_INTERVAL);


  AREXPORT virtual ~ArServerHandlerCommMonitor();

 
  // -----------------------------------------------------------------------------
  // Packet Handlers:
  // -----------------------------------------------------------------------------


  AREXPORT void handleGetHeartbeatInterval(ArServerClient *client, ArNetPacket *packet);


  AREXPORT void handleAckCommTcp(ArServerClient *client, ArNetPacket *packet);



  AREXPORT void handleAckCommUdp(ArServerClient *client, ArNetPacket *packet);


  AREXPORT void cycleCallback();

protected:

  ArServerBase *myServer;

  int myHeartbeatInterval;
  ArTime myLastHeartbeatTime;

  ArFunctor2C<ArServerHandlerCommMonitor, 
              ArServerClient *, ArNetPacket *> myGetHeartbeatIntervalCB;
  ArFunctor2C<ArServerHandlerCommMonitor, 
              ArServerClient *, ArNetPacket *> myAckCommUdpCB;
  ArFunctor2C<ArServerHandlerCommMonitor, 
              ArServerClient *, ArNetPacket *> myAckCommTcpCB;
  ArFunctorC<ArServerHandlerCommMonitor>       myCycleCB;
  
}; // end class ArServerHandlerCommMonitor

#endif // ARSERVERHANDLERCOMMMONITOR_H

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