Update

server_v2/include/ClosedLoopMotorController.hpp

@@ -25,6 +25,8 @@ public:
 
   void set_speed(uint8_t port, double speed_rad_s);
 
+  void stop_all();
+
   void generate_step_response_data();
 
   void generate_tuned_step_response_data();

server_v2/include/HealthChecker.hpp

@@ -0,0 +1,35 @@
+#ifndef COMPLIB_SERVER_HEALTHCHECKER_HPP
+#define COMPLIB_SERVER_HEALTHCHECKER_HPP
+
+#include <thread>
+#include <chrono>
+
+#define HEALTH_CHECK_TIMEOUT_MS 500
+
+class HealthChecker {
+public:
+  static HealthChecker &getInstance() {
+    static HealthChecker instance;
+    return instance;
+  }
+
+  HealthChecker(HealthChecker const &) = delete;
+
+  void operator=(HealthChecker const &) = delete;
+
+  void update();
+
+private:
+  HealthChecker();
+
+  [[noreturn]] void check_loop();
+
+  typedef std::chrono::steady_clock clock;
+
+  std::thread check_thread;
+  std::chrono::time_point<clock> last_update;
+  bool stop_sent = false;
+};
+
+
+#endif //COMPLIB_SERVER_HEALTHCHECKER_HPP

server_v2/include/communication/TCPSocketServer.hpp

@@ -3,7 +3,6 @@
 
 #include <thread>
 
-#define SOCKET_PATH "/tmp/compLib"
 #define SOCKET_BUFFER_SIZE 128
 
 class TCPSocketServer {

server_v2/include/networkUtils.hpp

@@ -0,0 +1,49 @@
+#ifndef COMPLIB_SERVER_NETWORKUTILS_H
+#define COMPLIB_SERVER_NETWORKUTILS_H
+
+#include <unistd.h>
+#include <string>
+#include <netdb.h>
+#include "spdlog/spdlog.h"
+
+#include <sys/types.h>
+#include <ifaddrs.h>
+
+namespace networkUtils {
+  inline std::tuple<std::string, std::string> get_current_host_and_ip() {
+    struct ifaddrs *ifaddr, *ifa;
+    int family, s;
+    char host[NI_MAXHOST];
+
+    if (getifaddrs(&ifaddr) == -1) {
+      spdlog::error("getifaddrs failed");
+      freeifaddrs(ifaddr);
+      return std::tuple("", "");
+    }
+
+    for (ifa = ifaddr; ifa != NULL; ifa = ifa->ifa_next) {
+      if (ifa->ifa_addr == NULL)
+        continue;
+
+      family = ifa->ifa_addr->sa_family;
+
+      if (family == AF_INET) {
+        s = getnameinfo(ifa->ifa_addr, sizeof(struct sockaddr_in), host, NI_MAXHOST, NULL, 0, NI_NUMERICHOST);
+        if (s != 0) {
+          spdlog::error("getnameinfo() failed: {}", gai_strerror(s));
+          freeifaddrs(ifaddr);
+          return std::tuple("", "");
+        }
+
+        if (std::string(ifa->ifa_name) != "lo") {
+          freeifaddrs(ifaddr);
+          return std::tuple(ifa->ifa_name, std::string(host));
+        }
+      }
+    }
+
+    return std::tuple("", "");
+  }
+}
+
+#endif //COMPLIB_SERVER_NETWORKUTILS_H

server_v2/include/spi.hpp

@@ -31,6 +31,8 @@ public:
 
   void write_array(uint8_t reg, uint8_t length, const uint8_t *data);
 
+  std::array<uint8_t, 4> read_version();
+
   enum Register : uint8_t {
     IDENTIFICATION_MODEL_ID = 1,
     IDENTIFICATION_MODEL_REV_MAJOR = 2,