wd_taskmonitor.h

/*
 * Developer : Alexey Zakharov (alexey.zakharov@vectioneer.com)
 * All rights reserved. Copyright (c) 2018 VECTIONEER.
 */
 
#ifndef MOTORCORTEX_CORE_WD_TASKMONITOR_H
#define MOTORCORTEX_CORE_WD_TASKMONITOR_H
 
#include <vector>
 
namespace mcx {
 
namespace container {
class Task;
}
 
namespace watchdog {
 
class TaskMonitor {
 
  struct TaskState {
    const container::Task* task;
    int counter;
    unsigned long prev_nr_of_cycles;
    bool error;
  };
 
public:
 
  TaskMonitor();
 
  void add(const container::Task* task);
 
  bool update(double cycle_time_sec);
 
private:
 
  std::vector<TaskState> task_state_list_;
 
};
 
}  // namespace mcx
 
}  // namespace watchdog
 
#endif //MOTORCORTEX_CORE_WD_TASKMONITOR_H