bt_zmq_publisher.h

Go to the documentation of this file.

#ifndef BT_ZMQ_PUBLISHER_H
#define BT_ZMQ_PUBLISHER_H

#include <array>
#include <future>
#include "abstract_logger.h"

namespace BT
{
class PublisherZMQ : public StatusChangeLogger
{
  static std::atomic<bool> ref_count;

public:
  PublisherZMQ(const BT::Tree& tree, unsigned max_msg_per_second = 25,
               unsigned publisher_port = 1666, unsigned server_port = 1667);

  virtual ~PublisherZMQ();

private:
  virtual void callback(Duration timestamp, const TreeNode& node, NodeStatus prev_status,
                        NodeStatus status) override;

  virtual void flush() override;

  const BT::Tree& tree_;
  std::vector<uint8_t> tree_buffer_;
  std::vector<uint8_t> status_buffer_;
  std::vector<SerializedTransition> transition_buffer_;
  std::chrono::microseconds min_time_between_msgs_;

  std::atomic_bool active_server_;
  std::thread thread_;

  void createStatusBuffer();

  TimePoint deadline_;
  std::mutex mutex_;
  std::atomic_bool send_pending_;
  std::condition_variable send_condition_variable_;
  std::future<void> send_future_;

  struct Pimpl;
  Pimpl* zmq_;
};
}   // namespace BT

#endif   // BT_ZMQ_PUBLISHER_H