make max heartbeat delay configurable

Author: facontidavide

examples/t12_groot_howto.cpp

@@ -73,7 +73,7 @@ int main()
   BT::FileLogger2 logger2(tree, "t12_logger2.btlog");
   // SQLite logger can save multiple sessions into the same database
   bool append_to_database = true;
-  BT::SqliteLogger sqlite_logger(tree, "t12_sqlitelog.btsql", append_to_database);
+  BT::SqliteLogger sqlite_logger(tree, "t12_sqlitelog.db3", append_to_database);
 
   while(1)
   {

include/behaviortree_cpp/loggers/groot2_publisher.h

@@ -34,6 +34,17 @@ class Groot2Publisher : public StatusChangeLogger
   Groot2Publisher(Groot2Publisher&& other) = default;
   Groot2Publisher& operator=(Groot2Publisher&& other)  = default;
 
+  /**
+   * @brief setMaxHeartbeatDelay is used to tell the publisher
+   * when a connection with Groot2 should be cancelled, if no
+   * hearbeat is received.
+   *
+   * Default is 5000 ms
+   */
+  void setMaxHeartbeatDelay( std::chrono::milliseconds delay);
+
+  std::chrono::milliseconds maxHeartbeatDelay() const;
+
   private:
 
   void callback(Duration timestamp,

src/loggers/bt_sqlite_logger.cpp

@@ -9,9 +9,10 @@ SqliteLogger::SqliteLogger(const Tree &tree,
                            bool append):
   StatusChangeLogger(tree.rootNode())
 {
-  if(filepath.filename().extension() != ".db3")
+  const auto extension = filepath.filename().extension();
+  if( extension!= ".db3" && extension != ".btdb")
   {
-    throw RuntimeError("SqliteLogger: the file extension must be [.db3]");
+    throw RuntimeError("SqliteLogger: the file extension must be [.db3] or [.btdb]");
   }
 
   enableTransitionToIdle(true);

src/loggers/groot2_publisher.cpp

@@ -80,6 +80,7 @@ struct Groot2Publisher::PImpl
   std::unordered_map<uint16_t, Monitor::Hook::Ptr> post_hooks;
 
   std::chrono::system_clock::time_point last_heartbeat;
+  std::chrono::milliseconds max_heartbeat_delay = std::chrono::milliseconds(5000);
 
   std::thread heartbeat_thread;
 
@@ -149,6 +150,16 @@ Groot2Publisher::Groot2Publisher(const BT::Tree& tree,
   _p->heartbeat_thread = std::thread(&Groot2Publisher::heartbeatLoop, this);
 }
 
+void Groot2Publisher::setMaxHeartbeatDelay(std::chrono::milliseconds delay)
+{
+  _p->max_heartbeat_delay = delay;
+}
+
+std::chrono::milliseconds Groot2Publisher::maxHeartbeatDelay() const
+{
+  return _p->max_heartbeat_delay;
+}
+
 Groot2Publisher::~Groot2Publisher()
 {
   removeAllHooks();
@@ -404,12 +415,12 @@ void Groot2Publisher::heartbeatLoop()
 
   while (_p->active_server)
   {
-    std::this_thread::sleep_for(std::chrono::milliseconds(100));
+    std::this_thread::sleep_for(std::chrono::milliseconds(10));
 
     auto now = std::chrono::system_clock::now();
     bool prev_heartbeat = has_heartbeat;
 
-    has_heartbeat = ( now - _p->last_heartbeat < std::chrono::milliseconds(5000));
+    has_heartbeat = ( now - _p->last_heartbeat < _p->max_heartbeat_delay);
 
     // if we loose or gain heartbeat, disable/enable all breakpoints
     if(has_heartbeat != prev_heartbeat)