watchdog_machine.h

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#pragma once
 
#include <chrono>
#include <future>
#include <map>
 
#include "core/containers/thread_safe_queue.h"
#include "ethercat_slave.h"
#include "machine.h"
 
class WatchdogMachine : public Machine {
 public:
  WatchdogMachine(VirtualDeviceManager& vdm, ctpl::thread_pool& thread_pool,
                  Notifier& notifier,
                  mm::core::containers::ThreadSafeQueue<OutgoingMachineMessage>&
                      outgoing_machine_message_queue);
 
  void execute(uint64_t pending_signals) override;
  void start();
  void stop();
  void abort_client_requests(const std::string& connection_id) override;
  bool done() override;
 
 private:
  uint64_t elapsed_milliseconds_ = 0;
  uint64_t counter_ = 0;
  std::future<void> future_;
  bool running_ = true;
 
  std::map<uint16_t, EthercatSlave::State> ecat_slave_states_;
 
  void check_drives();
  void send_connection_warning(uint16_t device_id);
};