Tools/Debugging/Watchdog.h

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/**
 * @file Tools/Debugging/Watchdog.h
 *
 * This file declares the view classes and macros.
 *
 * @author <A href=mailto:schumann@germanteam.org>Michael Wachter / Carsten Schumann</A>
 */
#ifndef __Watchdog_H__
#define __Watchdog_H__

#define WATCHDOG_EXECUTE(module, command) watchdog.enter(module); command; watchdog.leave(module);
/**
 * The class is a base class for image views.
 */
class Watchdog
{
public:
  enum ModuleID
  {
    colorTableMod,
    sensorDataProcessor, /*!< See class SensorDataProcessorSelector */
    imageProcessor, /*!< See class ImageProcessorSelector */
    ballLocator, /*!< See class BallLocatorSelector */
    teamBallLocator, /*!< See class TeamBallLocatorSelector */
    obstaclesLocator, /*!< See class ObstaclesLocatorSelector */
    playersLocator, /*!< See class PlayersLocatorSelector */
    selfLocator, /*!< See class SelfLocatorSelector */
    robotStateDetector, /*!< See class RobotStateDetectorSelector */
    collisionDetector, /*!< See class CollisionDetectorSelector */
    behaviorControl, /*!< See class BehaviorControlSelector */
    motionControl, /*!< See class MotionControlSelector */
    walkingEngineNormal, /*!< See class WalkingEngineNormalSelector */
    headControl, /*!< See class HeadControlSelector */
    ledControl, /*!< See class LEDControlSelector */
    getupEngine, /*!< See class GetupEngineSelector */
    soundControl, /*!< See class SoundControlSelector */
    sensorBehaviorControl, /*!< See class SensorBehaviorControlSelector */
    gtCam,
    numOfModules, /*!< Number of exchangeable modules */
    teamcommDDPReceive = 1000,
    teamcommUDPReceive = 1001,
    teamcommProgress = 1002,
    teamcommSend = 1003

  };

    Watchdog();
    void enter(int i);
    void leave(int i);
    void dump();

  private:
    enum { stackSize=100};
    int stack[stackSize];
    int top;
    unsigned long lastDump;
    int operations;

};

extern Watchdog watchdog;

#endif

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