initial commit

2026-10-22 09:23:54 +08:00
commit 63f557a39f
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+/**
+ * @file heartbeat.hpp
+ * @brief heartbeat
+ * @author DeepRobotics
+ * @version 1.0
+ * @date 2026-01-07
+ *
+ * @copyright Copyright (c) 2025  DeepRobotics
+ *
+ */
+#pragma once
+#include <chrono>
+#include <list>
+#include <mutex>
+#include <thread>
+
+class Heartbeat {
+public:
+    Heartbeat() {
+        mIsRunning_ = true;
+        heartbeatCheckThread_ = std::make_unique<std::thread>(&Heartbeat::heartbeatCheckThread, this);
+    }
+    ~Heartbeat() {
+        mIsRunning_ = false;
+        heartbeatCheckThread_.get()->join();
+    }
+
+    void wakeUp(const NetInfo& netInfo) {
+        std::lock_guard<std::mutex> lock(mutex_);
+        for (auto& clientInfo : clientInfoList_) {
+            if (clientInfo.ip == netInfo.ip && clientInfo.port == netInfo.port) {
+                clientInfo.isLive = true;
+                return;
+            }
+        }
+
+        ClientInfo clientInfo;
+        clientInfo.ip = netInfo.ip;
+        clientInfo.port = netInfo.port;
+        clientInfo.fromType = netInfo.fromType;
+        clientInfo.isLive = true;
+        clientInfoList_.push_back(clientInfo);
+    }
+
+    void GetLiveList(std::list<NetInfo>& netInfos) {
+        netInfos.clear();
+        std::lock_guard<std::mutex> lock(mutex_);
+        for (auto& clientInfo : clientInfoList_) {
+            NetInfo netInfo;
+            netInfo.ip = clientInfo.ip;
+            netInfo.port = clientInfo.port;
+            netInfo.fromType = clientInfo.fromType;
+            netInfos.push_back(netInfo);
+        }
+    }
+
+    void DeleteClient(const NetInfo& netInfo) {
+        std::lock_guard<std::mutex> lock(mutex_);
+        for (auto it = clientInfoList_.begin(); it != clientInfoList_.end();) {
+            if (it->ip == netInfo.ip && it->port == netInfo.port) {
+                it = clientInfoList_.erase(it);
+            } else {
+                it++;
+            }
+        }
+    }
+
+private:
+    void heartbeatCheckThread() {
+        bool flag = false;
+        while (mIsRunning_) {
+            std::this_thread::sleep_for(std::chrono::seconds(2));
+            auto now = std::chrono::steady_clock::now();
+            auto elapsed = std::chrono::duration_cast<std::chrono::seconds>(now - lastHeartbeatTime_).count();
+            if (elapsed >= 2) {
+                if (!flag) std::cout<<"Heartbeat timeout!"<<std::endl;
+                isConntected_ = false;
+                flag = true;
+
+                clientInfoList_.clear();
+            } else {
+                isConntected_ = true;
+                flag = false;
+            }
+
+            if (clientInfoList_.size() > 0) {
+                std::lock_guard<std::mutex> lock(mutex_);
+                for (auto it = clientInfoList_.begin(); it != clientInfoList_.end();) {
+                    if (it->isLive == false) {
+                        it = clientInfoList_.erase(it);
+                    } else {
+                        it->isLive = false;
+                        it++;
+                    }
+                }
+            }
+        }
+    }
+
+public:
+    bool mIsRunning_;
+    std::chrono::time_point<std::chrono::steady_clock> lastHeartbeatTime_;
+    std::unique_ptr<std::thread> heartbeatCheckThread_;
+    bool isConntected_ = false;
+
+    struct ClientInfo : public NetInfo {
+        bool isLive;
+    };
+
+    std::mutex mutex_;
+    std::list<ClientInfo> clientInfoList_;
+};