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Add missing err:out_of_range code-sections + intent fixes
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@gramss
gramss committed Sep 19, 2020
1 parent bd55f24 commit fa8a75b
Showing 1 changed file with 50 additions and 68 deletions.
118 changes: 50 additions & 68 deletions bt_editor/sidepanel_monitor.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -45,62 +45,62 @@ void SidepanelMonitor::on_timer()
ui->labelCount->setText( QString("Messages received: %1").arg(_msg_count) );

const char* buffer = reinterpret_cast<const char*>(msg.data());

const uint32_t header_size = flatbuffers::ReadScalar<uint32_t>( buffer );
const uint32_t num_transitions = flatbuffers::ReadScalar<uint32_t>( &buffer[4+header_size] );

// check uid in the index, if failed load tree from server
try {
for(size_t offset = 4; offset < header_size +4; offset +=3 )
{
const uint16_t uid = flatbuffers::ReadScalar<uint16_t>(&buffer[offset]);
_uid_to_index.at(uid);
}

for(size_t t=0; t < num_transitions; t++)
{
size_t offset = 8 + header_size + 12*t;
const uint16_t uid = flatbuffers::ReadScalar<uint16_t>(&buffer[offset+8]);
_uid_to_index.at(uid);
}
}
catch( std::out_of_range& err) {
qDebug() << "Reload tree from server";
if( !getTreeFromServer() ) {
_connected = false;
ui->lineEdit->setDisabled(false);
_timer->stop();
connectionUpdate(false);
return;
}
}

for(size_t offset = 4; offset < header_size +4; offset +=3 )
{
const uint16_t uid = flatbuffers::ReadScalar<uint16_t>(&buffer[offset]);
const uint16_t index = _uid_to_index.at(uid);
AbstractTreeNode* node = _loaded_tree.node( index );
node->status = convert(flatbuffers::ReadScalar<Serialization::NodeStatus>(&buffer[offset+2] ));
}

std::vector<std::pair<int, NodeStatus>> node_status;

//qDebug() << "--------";
for(size_t t=0; t < num_transitions; t++)
{
size_t offset = 8 + header_size + 12*t;
// check uid in the index, if failed load tree from server
try {
for(size_t offset = 4; offset < header_size +4; offset +=3 )
{
const uint16_t uid = flatbuffers::ReadScalar<uint16_t>(&buffer[offset]);
_uid_to_index.at(uid);
}

for(size_t t=0; t < num_transitions; t++)
{
size_t offset = 8 + header_size + 12*t;
const uint16_t uid = flatbuffers::ReadScalar<uint16_t>(&buffer[offset+8]);
_uid_to_index.at(uid);
}
for(size_t offset = 4; offset < header_size +4; offset +=3 )
{
const uint16_t uid = flatbuffers::ReadScalar<uint16_t>(&buffer[offset]);
const uint16_t index = _uid_to_index.at(uid);
AbstractTreeNode* node = _loaded_tree.node( index );
node->status = convert(flatbuffers::ReadScalar<Serialization::NodeStatus>(&buffer[offset+2] ));
}


// const double t_sec = flatbuffers::ReadScalar<uint32_t>( &buffer[offset] );
// const double t_usec = flatbuffers::ReadScalar<uint32_t>( &buffer[offset+4] );
// double timestamp = t_sec + t_usec* 0.000001;
const uint16_t uid = flatbuffers::ReadScalar<uint16_t>(&buffer[offset+8]);
const uint16_t index = _uid_to_index.at(uid);
// NodeStatus prev_status = convert(flatbuffers::ReadScalar<Serialization::NodeStatus>(&buffer[index+10] ));
NodeStatus status = convert(flatbuffers::ReadScalar<Serialization::NodeStatus>(&buffer[offset+11] ));
//qDebug() << "--------";
for(size_t t=0; t < num_transitions; t++)
{
size_t offset = 8 + header_size + 12*t;

// const double t_sec = flatbuffers::ReadScalar<uint32_t>( &buffer[offset] );
// const double t_usec = flatbuffers::ReadScalar<uint32_t>( &buffer[offset+4] );
// double timestamp = t_sec + t_usec* 0.000001;
const uint16_t uid = flatbuffers::ReadScalar<uint16_t>(&buffer[offset+8]);
const uint16_t index = _uid_to_index.at(uid);
// NodeStatus prev_status = convert(flatbuffers::ReadScalar<Serialization::NodeStatus>(&buffer[index+10] ));
NodeStatus status = convert(flatbuffers::ReadScalar<Serialization::NodeStatus>(&buffer[offset+11] ));

_loaded_tree.node(index)->status = status;
node_status.push_back( {index, status} );
_loaded_tree.node(index)->status = status;
node_status.push_back( {index, status} );

}
}
catch( std::out_of_range& err) {
qDebug() << "Reload tree from server";
if( !getTreeFromServer() ) {
_connected = false;
ui->lineEdit->setDisabled(false);
_timer->stop();
connectionUpdate(false);
return;
}
}
// update the graphic part
emit changeNodeStyle( "BehaviorTree", node_status );
Expand Down Expand Up @@ -189,27 +189,11 @@ void SidepanelMonitor::on_Connect()
address = ui->lineEdit->placeholderText();
ui->lineEdit->setText(address);
}

QString publisher_port = ui->lineEdit_publisher->text();
if( publisher_port.isEmpty() )
{
publisher_port = ui->lineEdit_publisher->placeholderText();
ui->lineEdit_publisher->setText(publisher_port);
}

QString server_port = ui->lineEdit_server->text();
if( server_port.isEmpty() )
{
publisher_port = ui->lineEdit_server->placeholderText();
ui->lineEdit_server->setText(publisher_port);
}

bool failed = false;
if( !address.isEmpty() )
{
_connection_address_pub = "tcp://" + address.toStdString() + ":" + publisher_port.toStdString();
_connection_address_req = "tcp://" + address.toStdString() + ":" + server_port.toStdString();

_connection_address_pub = "tcp://" + address.toStdString() + std::string(":1666");
_connection_address_req = "tcp://" + address.toStdString() + std::string(":1667");
try{
_zmq_subscriber.connect( _connection_address_pub.c_str() );

Expand All @@ -236,7 +220,6 @@ void SidepanelMonitor::on_Connect()
{
_connected = true;
ui->lineEdit->setDisabled(true);
ui->lineEdit_publisher->setDisabled(true);
_timer->start(20);
connectionUpdate(true);
}
Expand All @@ -250,7 +233,6 @@ void SidepanelMonitor::on_Connect()
else{
_connected = false;
ui->lineEdit->setDisabled(false);
ui->lineEdit_publisher->setDisabled(false);
_timer->stop();

connectionUpdate(false);
Expand Down

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