groot2_publisher.h

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#pragma once
 
#include <array>
#include <future>
#include "behaviortree_cpp/loggers/abstract_logger.h"
#include "behaviortree_cpp/loggers/groot2_protocol.h"
 
namespace BT
{
 
class Groot2Publisher : public StatusChangeLogger
{
  static std::mutex used_ports_mutex;
  static std::set<unsigned> used_ports;
 
  using Position = Monitor::Hook::Position;
 
public:
  Groot2Publisher(const BT::Tree& tree, unsigned server_port = 1667);
 
  ~Groot2Publisher() override;
 
  Groot2Publisher(const Groot2Publisher& other) = delete;
  Groot2Publisher& operator=(const Groot2Publisher& other) = delete;
 
  Groot2Publisher(Groot2Publisher&& other) = default;
  Groot2Publisher& operator=(Groot2Publisher&& other) = default;
 
  void setMaxHeartbeatDelay(std::chrono::milliseconds delay);
 
  std::chrono::milliseconds maxHeartbeatDelay() const;
 
private:
  void callback(Duration timestamp, const TreeNode& node, NodeStatus prev_status,
                NodeStatus status) override;
 
  void flush() override;
 
  void serverLoop();
 
  void heartbeatLoop();
 
  void updateStatusBuffer();
 
  std::vector<uint8_t> generateBlackboardsDump(const std::string& bb_list);
 
  bool insertHook(Monitor::Hook::Ptr breakpoint);
 
  bool unlockBreakpoint(Position pos, uint16_t node_uid, NodeStatus result, bool remove);
 
  bool removeHook(Position pos, uint16_t node_uid);
 
  void removeAllHooks();
 
  Monitor::Hook::Ptr getHook(Position pos, uint16_t node_uid);
 
  struct PImpl;
  std::unique_ptr<PImpl> _p;
 
  void enableAllHooks(bool enable);
};
}  // namespace BT