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authorNicolas Schodet2013-03-23 12:27:37 +0100
committerNicolas Schodet2013-03-23 13:03:02 +0100
commit06baa6c156dba0be37a21bddee96994a2c44f5bd (patch)
treeeea392b574befab65951e528a7fe6928485f629d /digital/io-hub/src/apbirthday/robot.hh
parent64c1debd706b42091533a8766a2affaad25b31cf (diff)
digital/io-hub/src/apbirthday: add chrono
Diffstat (limited to 'digital/io-hub/src/apbirthday/robot.hh')
-rw-r--r--digital/io-hub/src/apbirthday/robot.hh12
1 files changed, 12 insertions, 0 deletions
diff --git a/digital/io-hub/src/apbirthday/robot.hh b/digital/io-hub/src/apbirthday/robot.hh
index 1c6af976..08cb9cf6 100644
--- a/digital/io-hub/src/apbirthday/robot.hh
+++ b/digital/io-hub/src/apbirthday/robot.hh
@@ -26,6 +26,7 @@
#include "hardware.hh"
#include "asserv.hh"
#include "fsm_queue.hh"
+#include "chrono.hh"
#include "ucoolib/base/proto/proto.hh"
@@ -41,6 +42,8 @@ class Robot : public ucoo::Proto::Handler
bool fsm_gen_event ();
/// Receive proto messages.
void proto_handle (ucoo::Proto &proto, char cmd, const uint8_t *args, int size);
+ /// Send stats.
+ void proto_stats ();
public:
/// Public access to hardware class.
Hardware hardware;
@@ -56,6 +59,15 @@ class Robot : public ucoo::Proto::Handler
public:
/// Public access to deferred events FSM queue.
FsmQueue fsm_queue;
+ /// Public access to chrono.
+ Chrono chrono;
+ private:
+ /// Proto used for stats.
+ ucoo::Proto *stats_proto_;
+ /// Enable chrono stats.
+ bool stats_chrono_;
+ /// Last stated second.
+ int stats_chrono_last_s_;
};
/// Global instance pointer.