Implement Mr. Stanton's comments

src/common/heartbeat2/CMakeLists.txt

@@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 3.8)
 project(heartbeat2)
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-Wall -Wextra -Wpedantic)
+  add_compile_options(-Wall -Wpedantic)
 endif()
 
 # find dependencies
@@ -11,42 +11,38 @@ find_package(ament_cmake REQUIRED)
 # further dependencies manually.
 # find_package(<dependency> REQUIRED)
 find_package(rclcpp REQUIRED)
-find_package(builtin_interfaces REQUIRED)
 find_package(csm_common_interfaces REQUIRED)
-find_package(std_msgs REQUIRED)
 find_package(std_srvs REQUIRED)
 find_package(Boost 1.40 REQUIRED COMPONENTS container)
 
 # add executables for ros to recognize
-add_executable(client src/client.cpp)
-target_include_directories(client PUBLIC
+add_executable(heartbeat_client src/heartbeat_client.cpp)
+target_include_directories(heartbeat_client PUBLIC
   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
   $<INSTALL_INTERFACE:include>)
 ament_target_dependencies(
-  client
+  heartbeat_client
   rclcpp
   csm_common_interfaces
-  builtin_interfaces
-  std_msgs
+  std_srvs
 )
-target_include_directories(client PUBLIC ${Boost_INCLUDE_DIR})
-target_link_libraries(client ${Boost_LIBRARIES})
+target_include_directories(heartbeat_client PUBLIC ${Boost_INCLUDE_DIR})
+target_link_libraries(heartbeat_client ${Boost_LIBRARIES})
 
-add_executable(server src/server.cpp)
-target_include_directories(server PUBLIC
+add_executable(heartbeat_server src/heartbeat_server.cpp)
+target_include_directories(heartbeat_server PUBLIC
   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
   $<INSTALL_INTERFACE:include>)
 ament_target_dependencies(
-  server
+  heartbeat_server
   rclcpp
   csm_common_interfaces
-  builtin_interfaces
   std_srvs
 )
 
-install(TARGETS client
+install(TARGETS heartbeat_client
   DESTINATION lib/${PROJECT_NAME})
-install(TARGETS server
+install(TARGETS heartbeat_server
   DESTINATION lib/${PROJECT_NAME})
 
 

src/common/heartbeat2/include/heartbeat_client.hpp

@@ -0,0 +1,55 @@
+#ifndef HEARTBEAT_CLIENT_HPP
+#define HEARTBEAT_CLIENT_HPP
+
+#include <rclcpp/rclcpp.hpp>
+#include <boost/circular_buffer.hpp>
+#include <std_srvs/srv/empty.hpp>
+
+#include "csm_common_interfaces/msg/e_stop.hpp"
+
+class HeartbeatClient : public rclcpp::Node {
+    public:
+        /**
+         * @brief Construct a new Heartbeat Client object
+         * 
+         */
+        HeartbeatClient();
+
+        /**
+         * @brief Establishes connection to heartbeat server
+         * 
+         */
+        void handshake();
+
+    private:
+        /**
+         * @brief Checks for handshake response
+         * 
+         */
+        void handshake_callback();
+
+        /**
+         * @brief Sends requests to server and checks if responses are sent
+         * 
+         */
+        void ping_callback();
+
+
+        // Time since last ping was received
+        unsigned int _lastResponseTime;
+        boost::circular_buffer<std::shared_future<std::shared_ptr<std_srvs::srv::Empty_Response>>> _futures;
+
+        // heartbeat and handshake
+        rclcpp::Client<std_srvs::srv::Empty>::SharedPtr handshakeClient;
+        rclcpp::Client<std_srvs::srv::Empty>::SharedPtr heartbeatClient;
+
+        // storing handshake futures and setting up timer to send requests and check for responses
+        std::shared_future<std::shared_ptr<std_srvs::srv::Empty_Response>> _handshakeFuture;
+        rclcpp::TimerBase::SharedPtr handshakeTimer;
+        rclcpp::TimerBase::SharedPtr pingTimer;
+
+        // the estop
+        rclcpp::Publisher<csm_common_interfaces::msg::EStop>::SharedPtr estopPub;
+};
+
+#endif // (HEARTBEAT_CLIENT_H)

src/common/heartbeat2/include/heartbeat_server.hpp

@@ -0,0 +1,55 @@
+#ifndef HEARTBEAT_SERVER_HPP
+#define HEARTBEAT_SERVER_HPP
+
+#include <rclcpp/rclcpp.hpp>
+#include <std_srvs/srv/empty.hpp>
+
+#include "csm_common_interfaces/msg/e_stop.hpp"
+
+class HeartbeatServer : public rclcpp::Node {
+    public:
+        /**
+         * @brief Construct a new Heartbeat Server object
+         * 
+         */
+        HeartbeatServer();
+
+    private:
+        /**
+         * @brief Establishes connection with heartbeat client
+         * 
+         * @param request empty request
+         * @param response empty response
+         */
+        void handshake(std_srvs::srv::Empty::Request::SharedPtr request, std_srvs::srv::Empty::Response::SharedPtr response);
+
+        /**
+         * @brief Watches if client stops sending requests
+         * 
+         */
+        void watchdog_callback();
+
+        /**
+         * @brief Processes requests from client
+         * 
+         * @param request empty request
+         * @param response empty response
+         */
+        void heartbeat_callback(std_srvs::srv::Empty::Request::SharedPtr request, std_srvs::srv::Empty::Response::SharedPtr response);
+
+        // last time request was received
+        unsigned int _lastPingTime;
+
+        // handshake and heartbeat
+        rclcpp::Service<std_srvs::srv::Empty>::SharedPtr handshakeSrv;
+        rclcpp::Service<std_srvs::srv::Empty>::SharedPtr heartbeatSrv;
+
+        // timer to periodically check for pings and send responses
+        rclcpp::TimerBase::SharedPtr watchdog;
+
+        // estop
+        rclcpp::Publisher<csm_common_interfaces::msg::EStop>::SharedPtr estopPub;
+};
+
+
+#endif // (HEARTBEAT_SERVER_H)

src/common/heartbeat2/package.xml

@@ -3,7 +3,7 @@
 <package format="3">
   <name>heartbeat2</name>
   <version>0.0.0</version>
-  <description>establish a heartbeat between drivestation and ROV</description>
+  <description>Establish a heartbeat between drivestation and ROV</description>
   <maintainer email="[email protected]">kadin</maintainer>
   <license>Apache-2.0</license>
 
@@ -13,11 +13,9 @@
   <test_depend>ament_lint_common</test_depend>
 
   <depend>rclcpp</depend>
-  <depend>builtin_interfaces</depend>
-  <depend>std_msgs</depend>
   <depend>csm_common_interfaces</depend>
   <depend>std_srvs</depend>
-  <depend>boost/circular_buffer</depend>
+  <depend>boost</depend>
 
 
   <export>