bt_zmq_publisher.h
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00001 #ifndef BT_ZMQ_PUBLISHER_H
00002 #define BT_ZMQ_PUBLISHER_H
00003 
00004 #include <array>
00005 #include <future>
00006 #include "abstract_logger.h"
00007 
00008 
00009 namespace BT
00010 {
00011 class PublisherZMQ : public StatusChangeLogger
00012 {
00013     static std::atomic<bool> ref_count;
00014 
00015   public:
00016     PublisherZMQ(TreeNode* root_node, int max_msg_per_second = 25);
00017 
00018     virtual ~PublisherZMQ();
00019 
00020   private:
00021     virtual void callback(Duration timestamp, const TreeNode& node, NodeStatus prev_status,
00022                           NodeStatus status) override;
00023 
00024     virtual void flush() override;
00025 
00026     TreeNode* root_node_;
00027     std::vector<uint8_t> tree_buffer_;
00028     std::vector<uint8_t> status_buffer_;
00029     std::vector<SerializedTransition> transition_buffer_;
00030     std::chrono::microseconds min_time_between_msgs_;
00031 
00032     std::atomic_bool active_server_;
00033     std::thread thread_;
00034 
00035     void createStatusBuffer();
00036 
00037     TimePoint deadline_;
00038     std::mutex mutex_;
00039     std::atomic_bool send_pending_;
00040 
00041     std::future<void> send_future_;
00042 
00043     struct Pimpl;
00044     Pimpl* zmq_;
00045 
00046 };
00047 }
00048 
00049 #endif   // BT_ZMQ_PUBLISHER_H


behaviortree_cpp
Author(s): Michele Colledanchise, Davide Faconti
autogenerated on Sat Feb 2 2019 03:50:10