| 112 | }; |
| 113 | |
| 114 | Groot2Publisher::Groot2Publisher(const BT::Tree& tree, unsigned server_port) |
| 115 | : StatusChangeLogger(tree.rootNode()), _p(new PImpl()) |
| 116 | { |
| 117 | _p->server_port = server_port; |
| 118 | _p->tree_xml = WriteTreeToXML(tree, true, true); |
| 119 | |
| 120 | //------------------------------- |
| 121 | // Prepare the status buffer |
| 122 | size_t node_count = 0; |
| 123 | for(const auto& subtree : tree.subtrees) |
| 124 | { |
| 125 | node_count += subtree->nodes.size(); |
| 126 | } |
| 127 | _p->status_buffer.resize(3 * node_count); |
| 128 | |
| 129 | unsigned ptr_offset = 0; |
| 130 | char* buffer_ptr = _p->status_buffer.data(); |
| 131 | |
| 132 | for(const auto& subtree : tree.subtrees) |
| 133 | { |
| 134 | auto name = |
| 135 | subtree->instance_name.empty() ? subtree->tree_ID : subtree->instance_name; |
| 136 | _p->subtrees.insert({ name, subtree }); |
| 137 | |
| 138 | for(const auto& node : subtree->nodes) |
| 139 | { |
| 140 | _p->nodes_by_uid.insert({ node->UID(), node }); |
| 141 | |
| 142 | ptr_offset += Monitor::Serialize(buffer_ptr, ptr_offset, node->UID()); |
| 143 | _p->status_buffermap.insert({ node->UID(), buffer_ptr + ptr_offset }); |
| 144 | ptr_offset += Monitor::Serialize(buffer_ptr, ptr_offset, uint8_t(NodeStatus::IDLE)); |
| 145 | } |
| 146 | } |
| 147 | //------------------------------- |
| 148 | _p->server_address = StrCat("tcp://*:", std::to_string(server_port)); |
| 149 | _p->publisher_address = StrCat("tcp://*:", std::to_string(server_port + 1)); |
| 150 | |
| 151 | _p->server.bind(_p->server_address.c_str()); |
| 152 | _p->publisher.bind(_p->publisher_address.c_str()); |
| 153 | |
| 154 | _p->server_thread = std::thread(&Groot2Publisher::serverLoop, this); |
| 155 | _p->heartbeat_thread = std::thread(&Groot2Publisher::heartbeatLoop, this); |
| 156 | } |
| 157 | |
| 158 | void Groot2Publisher::setMaxHeartbeatDelay(std::chrono::milliseconds delay) |
| 159 | { |