The Groot2Publisher is used to create an interface between your BT.CPP executor and Groot2. More...

#include <groot2_publisher.h>

Inheritance diagram for BT::Groot2Publisher:

Classes
struct	PImpl

Public Member Functions
	Groot2Publisher (const BT::Tree &tree, unsigned server_port=1667)

	Groot2Publisher (const Groot2Publisher &other)=delete

	Groot2Publisher (Groot2Publisher &&other)=default

std::chrono::milliseconds	maxHeartbeatDelay () const

Groot2Publisher &	operator= (const Groot2Publisher &other)=delete

Groot2Publisher &	operator= (Groot2Publisher &&other)=default

void	setMaxHeartbeatDelay (std::chrono::milliseconds delay)
	setMaxHeartbeatDelay is used to tell the publisher when a connection with Groot2 should be cancelled, if no heartbeat is received. More...

	~Groot2Publisher () override

Public Member Functions inherited from BT::StatusChangeLogger
bool	enabled () const

void	enableTransitionToIdle (bool enable)

StatusChangeLogger &	operator= (const StatusChangeLogger &other)=delete

StatusChangeLogger &	operator= (StatusChangeLogger &&other)=default

void	setEnabled (bool enabled)

void	setTimestampType (TimestampType type)

bool	showsTransitionToIdle () const

	StatusChangeLogger (const StatusChangeLogger &other)=delete

	StatusChangeLogger (StatusChangeLogger &&other)=default

	StatusChangeLogger (TreeNode *root_node)

virtual	~StatusChangeLogger ()=default

Private Types
using	Position = Monitor::Hook::Position

Private Member Functions
void	callback (Duration timestamp, const TreeNode &node, NodeStatus prev_status, NodeStatus status) override

void	enableAllHooks (bool enable)

void	flush () override

std::vector< uint8_t >	generateBlackboardsDump (const std::string &bb_list)

Monitor::Hook::Ptr	getHook (Position pos, uint16_t node_uid)

void	heartbeatLoop ()

bool	insertHook (Monitor::Hook::Ptr breakpoint)

void	removeAllHooks ()

bool	removeHook (Position pos, uint16_t node_uid)

void	serverLoop ()

bool	unlockBreakpoint (Position pos, uint16_t node_uid, NodeStatus result, bool remove)

void	updateStatusBuffer ()

Private Attributes
std::unique_ptr< PImpl >	_p

Static Private Attributes
static std::set< unsigned >	used_ports

static std::mutex	used_ports_mutex

Detailed Description

The Groot2Publisher is used to create an interface between your BT.CPP executor and Groot2.

An inter-process communication mechanism allows the two processes to communicate through a TCP port. The user should provide the port to be used in the constructor.

Definition at line 19 of file groot2_publisher.h.

Member Typedef Documentation

◆ Position

using BT::Groot2Publisher::Position = Monitor::Hook::Position

private

Definition at line 24 of file groot2_publisher.h.

Constructor & Destructor Documentation

◆ Groot2Publisher() [1/3]

BT::Groot2Publisher::Groot2Publisher	(	const BT::Tree &	tree,
		unsigned	server_port = `1667`
	)

Definition at line 107 of file groot2_publisher.cpp.

◆ ~Groot2Publisher()

BT::Groot2Publisher::~Groot2Publisher ( )

override

Definition at line 175 of file groot2_publisher.cpp.

◆ Groot2Publisher() [2/3]

BT::Groot2Publisher::Groot2Publisher ( const Groot2Publisher & other )

delete

◆ Groot2Publisher() [3/3]

BT::Groot2Publisher::Groot2Publisher ( Groot2Publisher && other )

default

Member Function Documentation

◆ callback()

void BT::Groot2Publisher::callback	(	Duration	timestamp,
		const TreeNode &	node,
		NodeStatus	prev_status,
		NodeStatus	status
	)

overrideprivatevirtual

Implements BT::StatusChangeLogger.

Definition at line 199 of file groot2_publisher.cpp.

◆ enableAllHooks()

void BT::Groot2Publisher::enableAllHooks ( bool enable )

private

Definition at line 481 of file groot2_publisher.cpp.

◆ flush()

void BT::Groot2Publisher::flush ( )

overrideprivatevirtual

Implements BT::StatusChangeLogger.

Definition at line 227 of file groot2_publisher.cpp.

◆ generateBlackboardsDump()

std::vector< uint8_t > BT::Groot2Publisher::generateBlackboardsDump ( const std::string & bb_list )

private

Definition at line 518 of file groot2_publisher.cpp.

◆ getHook()

Monitor::Hook::Ptr BT::Groot2Publisher::getHook	(	Position	pos,
		uint16_t	node_uid
	)

private

Definition at line 696 of file groot2_publisher.cpp.

◆ heartbeatLoop()

void BT::Groot2Publisher::heartbeatLoop ( )

private

Definition at line 497 of file groot2_publisher.cpp.

◆ insertHook()

bool BT::Groot2Publisher::insertHook ( Monitor::Hook::Ptr breakpoint )

private

Definition at line 539 of file groot2_publisher.cpp.

◆ maxHeartbeatDelay()

std::chrono::milliseconds BT::Groot2Publisher::maxHeartbeatDelay ( ) const

Definition at line 170 of file groot2_publisher.cpp.

◆ operator=() [1/2]

Groot2Publisher& BT::Groot2Publisher::operator= ( const Groot2Publisher & other )

delete

◆ operator=() [2/2]

Groot2Publisher& BT::Groot2Publisher::operator= ( Groot2Publisher && other )

default

◆ removeAllHooks()

void BT::Groot2Publisher::removeAllHooks ( )

private

Definition at line 670 of file groot2_publisher.cpp.

◆ removeHook()

bool BT::Groot2Publisher::removeHook	(	Position	pos,
		uint16_t	node_uid
	)

private

Definition at line 632 of file groot2_publisher.cpp.

◆ serverLoop()

void BT::Groot2Publisher::serverLoop ( )

private

Definition at line 232 of file groot2_publisher.cpp.

◆ setMaxHeartbeatDelay()

void BT::Groot2Publisher::setMaxHeartbeatDelay ( std::chrono::milliseconds delay )

setMaxHeartbeatDelay is used to tell the publisher when a connection with Groot2 should be cancelled, if no heartbeat is received.

Default is 5000 ms

Definition at line 165 of file groot2_publisher.cpp.

◆ unlockBreakpoint()

bool BT::Groot2Publisher::unlockBreakpoint	(	Position	pos,
		uint16_t	node_uid,
		NodeStatus	result,
		bool	remove
	)

private

Definition at line 598 of file groot2_publisher.cpp.

◆ updateStatusBuffer()

void BT::Groot2Publisher::updateStatusBuffer ( )

private

Member Data Documentation

◆ _p

std::unique_ptr<PImpl> BT::Groot2Publisher::_p

private

Definition at line 72 of file groot2_publisher.h.

◆ used_ports

std::set< unsigned > BT::Groot2Publisher::used_ports

staticprivate

Definition at line 22 of file groot2_publisher.h.

◆ used_ports_mutex

std::mutex BT::Groot2Publisher::used_ports_mutex

staticprivate

Definition at line 21 of file groot2_publisher.h.

The documentation for this class was generated from the following files:

Classes

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Static Private Attributes

Detailed Description

Member Typedef Documentation

◆ Position

Constructor & Destructor Documentation

◆ Groot2Publisher() [1/3]

◆ ~Groot2Publisher()

◆ Groot2Publisher() [2/3]

◆ Groot2Publisher() [3/3]

Member Function Documentation

◆ callback()

◆ enableAllHooks()

◆ flush()

◆ generateBlackboardsDump()

◆ getHook()

◆ heartbeatLoop()

◆ insertHook()

◆ maxHeartbeatDelay()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ removeAllHooks()

◆ removeHook()

◆ serverLoop()

◆ setMaxHeartbeatDelay()

◆ unlockBreakpoint()

◆ updateStatusBuffer()

Member Data Documentation

◆ _p

◆ used_ports

◆ used_ports_mutex