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Improved switching BTs with active Groot monitoring (ZMQ logger destruction) #244

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Merged
facontidavide merged 2 commits into from
Dec 2, 2020
Merged

Improved switching BTs with active Groot monitoring (ZMQ logger destruction) #244

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5e2c67c
Skip 100ms (max) wait for detached thread
gramss Dec 2, 2020
f842c3d
add {} to single line if statements
gramss Dec 2, 2020
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21 changes: 19 additions & 2 deletions src/loggers/bt_zmq_publisher.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -75,6 +75,10 @@ PublisherZMQ::PublisherZMQ(const BT::Tree& tree,
}
catch (zmq::error_t& err)
{
if (err.num() == ETERM)
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@SteveMacenski SteveMacenski Dec 2, 2020 •
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Not my code base to tell you what to do, but if without brackets makes my skin crawl. Might want to make it explicit like the styling of the rest of the file (+ L177 below). I've been burned alot by this in the past when working in codebases with python developers not realizing that only the 1st line after the if is used in the condition without brackets in C++.

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@gramss gramss Dec 2, 2020

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The python perspective argument is really good.
This burned in somehow as a nice little c++ feature..
But better to skip stuff like that and keep it more readable / less future error prone..

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@SteveMacenski SteveMacenski Dec 2, 2020 •
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I'm also Mr. Explicit in my code, so I take the exact opposite extreme. I avoid auto unless the type is so long that I don't want to write it all out (and using it <2 times so not worth typedefing). Do as you like here, not up to me 😄

{
std::cout << "[PublisherZMQ] Server quitting." << std::endl;
}
std::cout << "[PublisherZMQ] just died. Exeption " << err.what() << std::endl;
active_server_ = false;
}
Expand All @@ -87,6 +91,7 @@ PublisherZMQ::PublisherZMQ(const BT::Tree& tree,
PublisherZMQ::~PublisherZMQ()
{
active_server_ = false;
zmq_->context.shutdown();
if (thread_.joinable())
{
thread_.join();
Expand Down Expand Up @@ -161,8 +166,20 @@ void PublisherZMQ::flush()
transition_buffer_.clear();
createStatusBuffer();
}

zmq_->publisher.send(message, 0);
try
{
zmq_->publisher.send(message, 0);
}
catch (zmq::error_t& err)
{
if (err.num() == ETERM)
{
std::cout << "[PublisherZMQ] Publisher quitting." << std::endl;
}
std::cout << "[PublisherZMQ] just died. Exeption " << err.what() << std::endl;
}


send_pending_ = false;
// printf("%.3f zmq send\n", std::chrono::duration<double>( std::chrono::high_resolution_clock::now().time_since_epoch() ).count());
}
Expand Down