groot2_publisher.h

#pragma once
 
#include "behaviortree_cpp/loggers/abstract_logger.h"
#include "behaviortree_cpp/loggers/groot2_protocol.h"
 
#include <array>
#include <future>
 
namespace BT
{
 
/**
 * @brief 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.
 */
class Groot2Publisher : public StatusChangeLogger
{
  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) = delete;
  Groot2Publisher& operator=(Groot2Publisher&& other) = delete;
 
  /**
   * @brief setMaxHeartbeatDelay is used to tell the publisher
   * when a connection with Groot2 should be cancelled, if no
   * heartbeat is received.
   *
   * Default is 5000 ms
   */
  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