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Small Fix for Reloading Tree from #61 #96

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merged 6 commits into from
Sep 28, 2020
Merged

Small Fix for Reloading Tree from #61 #96

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fa8a75b
Add missing err:out_of_range code-sections + intent fixes
gramss Sep 19, 2020
67b6181
Revert "Add missing err:out_of_range code-sections + intent fixes"
gramss Sep 19, 2020
c80693b
indentation fixes
gramss Sep 19, 2020
a2d8f18
indentation fixes - again
gramss Sep 19, 2020
dc6afc6
get node status out of try/catch for compiler
gramss Sep 19, 2020
49d34c1
main thing: move rest of uid-based logic in try/catch for reload
gramss Sep 19, 2020
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96 changes: 48 additions & 48 deletions bt_editor/sidepanel_monitor.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -48,60 +48,60 @@ void SidepanelMonitor::on_timer()

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;
// 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);
}

//qDebug() << "--------";
for(size_t t=0; t < num_transitions; t++)
{
size_t offset = 8 + header_size + 12*t;
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;

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

}
}
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 );
}
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