BT::Groot2Publisher Class Reference

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:

Collaboration diagram for BT::Groot2Publisher:

Public Member Functions
	Groot2Publisher (const BT::Tree &tree, unsigned server_port=1667)
	Groot2Publisher (const Groot2Publisher &other)=delete
Groot2Publisher &	operator= (const Groot2Publisher &other)=delete
	Groot2Publisher (Groot2Publisher &&other)=delete
Groot2Publisher &	operator= (Groot2Publisher &&other)=delete
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.
std::chrono::milliseconds	maxHeartbeatDelay () const
Public Member Functions inherited from BT::StatusChangeLogger
	StatusChangeLogger (TreeNode *root_node)
	Construct and immediately subscribe to status changes.
	StatusChangeLogger (const StatusChangeLogger &other)=delete
StatusChangeLogger &	operator= (const StatusChangeLogger &other)=delete
	StatusChangeLogger (StatusChangeLogger &&other)=delete
StatusChangeLogger &	operator= (StatusChangeLogger &&other)=delete
virtual void	callback (BT::Duration timestamp, const TreeNode &node, NodeStatus prev_status, NodeStatus status)=0
virtual void	flush ()=0
void	setEnabled (bool enabled)
void	setTimestampType (TimestampType type)
bool	enabled () const
bool	showsTransitionToIdle () const
void	enableTransitionToIdle (bool enable)

Additional Inherited Members
Protected Member Functions inherited from BT::StatusChangeLogger
	StatusChangeLogger ()
	Default constructor for deferred subscription. Call subscribeToTreeChanges() when ready.
void	subscribeToTreeChanges (TreeNode *root_node)
	Subscribe to status changes. Call at end of constructor for deferred subscription.
void	unsubscribeFromTreeChanges ()

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.

Member Function Documentation

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

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

• include/behaviortree_cpp/loggers/groot2_publisher.h