Method getTreeFromServer

bt_editor/sidepanel_monitor.cpp:88–153

}

bool SidepanelMonitor::getTreeFromServer()
{
    try{
        zmq::message_t request(0);
        zmq::message_t reply;

        zmq::socket_t  zmq_client( _zmq_context, ZMQ_REQ );
        zmq_client.connect( _connection_address_req.c_str() );

        int timeout_ms = 1000;
        zmq_client.setsockopt(ZMQ_RCVTIMEO,&timeout_ms, sizeof(int) );

        zmq_client.send(request);

        bool received = zmq_client.recv(&reply);
        if( ! received )
        {
            return false;
        }

        const char* buffer = reinterpret_cast<const char*>(reply.data());
        auto fb_behavior_tree = Serialization::GetBehaviorTree( buffer );

        auto res_pair = BuildTreeFromFlatbuffers( fb_behavior_tree );

        _loaded_tree  = std::move( res_pair.first );
        _uid_to_index = std::move( res_pair.second );

        // add new models to registry
        for(const auto& tree_node: _loaded_tree.nodes())
        {
            const auto& registration_ID = tree_node.model.registration_ID;
            if( BuiltinNodeModels().count(registration_ID) == 0)
            {
                addNewModel( tree_node.model );
            }
        }

        try {
            loadBehaviorTree( _loaded_tree, "BehaviorTree" );
        }
        catch (std::exception& err) {
            QMessageBox messageBox;
            messageBox.critical(this,"Error Connecting to remote server", err.what() );
            messageBox.show();
            return false;
        }

        std::vector<std::pair<int, NodeStatus>> node_status;
        node_status.reserve(_loaded_tree.nodesCount());

        //  qDebug() << "--------";

        for(size_t t=0; t < _loaded_tree.nodesCount(); t++)
        {
            node_status.push_back( { t, _loaded_tree.nodes()[t].status } );
        }
        emit changeNodeStyle( "BehaviorTree", node_status );