Add publisher/server and autoconnect args to BT Monitor (#170)

* Add publisher/server and autoconnect args to BT Monitor

* Add extended timeout to get behavior tree on autoconnect

* Add address arg

Author: sea-bass

bt_editor/main.cpp

@@ -39,6 +39,23 @@ main(int argc, char *argv[])
                                    "Start in one of these modes: [editor,monitor,replay]",
                                    "mode");
     parser.addOption(mode_option);
+
+    QCommandLineOption address_option(QStringList() << "address",
+                                      "Address to connect to (defaults to localhost)",
+                                      "address");
+    parser.addOption(address_option);
+    QCommandLineOption pub_port_option(QStringList() << "publisher_port",
+                                       "Publisher port number (defaults to 1666)",
+                                       "publisher_port");
+    parser.addOption(pub_port_option);
+    QCommandLineOption srv_port_option(QStringList() << "server_port",
+                                       "Server port number (defaults to 1667)",
+                                       "server_port");
+    parser.addOption(srv_port_option);
+    QCommandLineOption autoconnect_option(QStringList() << "autoconnect",
+                                          "Autoconnect to monitor");
+    parser.addOption(autoconnect_option);
+
     parser.process( app );
 
     QFile styleFile( ":/stylesheet.qss" );
@@ -88,7 +105,15 @@ main(int argc, char *argv[])
             mode = dialog.getGraphicMode();
         }
 
-        MainWindow win( mode );
+        // Get the monitor options.
+        const QString monitor_address = parser.value(address_option);
+        const QString monitor_pub_port = parser.value(pub_port_option);
+        const QString monitor_srv_port = parser.value(srv_port_option);
+        const bool monitor_autoconnect = parser.isSet(autoconnect_option);
+
+        // Start the main application.
+        MainWindow win( mode, monitor_address, monitor_pub_port,
+                        monitor_srv_port, monitor_autoconnect );
         win.show();
         return app.exec();
     }

bt_editor/mainwindow.cpp

@@ -22,6 +22,7 @@
 #include <nodes/NodeData>
 #include <nodes/NodeStyle>
 #include <nodes/FlowView>
+#include <thread>
 
 #include "editor_flowscene.h"
 #include "utils.h"
@@ -40,11 +41,20 @@ using QtNodes::FlowScene;
 using QtNodes::NodeGraphicsObject;
 using QtNodes::NodeState;
 
-MainWindow::MainWindow(GraphicMode initial_mode, QWidget *parent) :
-                                                                    QMainWindow(parent),
-                                                                    ui(new Ui::MainWindow),
-                                                                    _current_mode(initial_mode),
-                                                                    _current_layout(QtNodes::PortLayout::Vertical)
+MainWindow::MainWindow(GraphicMode initial_mode,
+                       const QString& monitor_address,
+                       const QString& monitor_pub_port,
+                       const QString& monitor_srv_port,
+                       const bool monitor_autoconnect,
+                       QWidget *parent) :
+    QMainWindow(parent),
+    ui(new Ui::MainWindow),
+    _current_mode(initial_mode),
+    _current_layout(QtNodes::PortLayout::Vertical),
+    _monitor_address(monitor_address),
+    _monitor_publisher_port(monitor_pub_port),
+    _monitor_server_port(monitor_srv_port),
+    _monitor_autoconnect(monitor_autoconnect)
 {
     ui->setupUi(this);
 
@@ -96,14 +106,25 @@ MainWindow::MainWindow(GraphicMode initial_mode, QWidget *parent) :
     ui->leftFrame->layout()->addWidget( _replay_widget );
 
 #ifdef ZMQ_FOUND
-    _monitor_widget = new SidepanelMonitor(this);
+    _monitor_widget = new SidepanelMonitor(
+        this, _monitor_address, _monitor_publisher_port, _monitor_server_port);
     ui->leftFrame->layout()->addWidget( _monitor_widget );
 
     connect( ui->toolButtonConnect, &QToolButton::clicked,
             _monitor_widget, &SidepanelMonitor::on_Connect );
 
     connect( _monitor_widget, &SidepanelMonitor::connectionUpdate,
             this, &MainWindow::onConnectionUpdate );
+
+    if ( monitor_autoconnect )
+    {
+        // If autoconnecting, increase the timeout to get the behavior tree to a
+        // larger value. This only lasts for one "connect" before returning to
+        // its default value.
+        _monitor_widget->set_load_tree_timeout_ms(
+            _monitor_widget->_load_tree_autoconnect_timeout_ms);
+        ui->toolButtonConnect->animateClick();
+    }
 #else
     ui->actionMonitor_mode->setVisible(false);
 #endif

bt_editor/mainwindow.h

@@ -43,7 +43,12 @@ class MainWindow : public QMainWindow
                               SUBTREE_REFRESH};
 
 public:
-    explicit MainWindow(GraphicMode initial_mode, QWidget *parent = nullptr);
+    explicit MainWindow(GraphicMode initial_mode,
+                        const QString& monitor_address = "",
+                        const QString& monitor_pub_port = "",
+                        const QString& monitor_srv_port = "",
+                        const bool monitor_autoconnect = false,
+                        QWidget *parent = nullptr);
     ~MainWindow() override;
 
     void loadFromXML(const QString &xml_text);
@@ -202,7 +207,12 @@ private slots:
 #ifdef ZMQ_FOUND
     SidepanelMonitor* _monitor_widget;
 #endif
-    
+
+    QString _monitor_address;
+    QString _monitor_publisher_port;
+    QString _monitor_server_port;
+    bool _monitor_autoconnect;
+
     MainWindow::SavedState saveCurrentState();
     void clearUndoStacks();
 };

bt_editor/sidepanel_monitor.cpp

@@ -10,7 +10,10 @@
 #include "mainwindow.h"
 #include "utils.h"
 
-SidepanelMonitor::SidepanelMonitor(QWidget *parent) :
+SidepanelMonitor::SidepanelMonitor(QWidget *parent,
+                                   const QString &address,
+                                   const QString &publisher_port,
+                                   const QString &server_port) :
     QFrame(parent),
     ui(new Ui::SidepanelMonitor),
     _zmq_context(1),
@@ -20,8 +23,22 @@ SidepanelMonitor::SidepanelMonitor(QWidget *parent) :
     _parent(parent)
 {
     ui->setupUi(this);
-    _timer = new QTimer(this);
+    this->set_load_tree_timeout_ms(_load_tree_default_timeout_ms);
 
+    if ( !address.isEmpty() )
+    {
+        ui->lineEdit_address->setText(address);
+    }
+    if ( !publisher_port.isEmpty() )
+    {
+        ui->lineEdit_publisher->setText(publisher_port);
+    }
+    if ( !server_port.isEmpty() )
+    {
+        ui->lineEdit_server->setText(server_port);
+    }
+
+    _timer = new QTimer(this);
     connect( _timer, &QTimer::timeout, this, &SidepanelMonitor::on_timer );
 }
 
@@ -97,7 +114,7 @@ void SidepanelMonitor::on_timer()
                 qDebug() << "Reload tree from server";
                 if( !getTreeFromServer() ) {
                     _connected = false;
-                    ui->lineEdit->setDisabled(false);
+                    ui->lineEdit_address->setDisabled(false);
                     _timer->stop();
                     connectionUpdate(false);
                     return;
@@ -127,8 +144,7 @@ bool SidepanelMonitor::getTreeFromServer()
         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.setsockopt(ZMQ_RCVTIMEO, &_load_tree_timeout_ms, sizeof(int) );
 
         zmq_client.send(request, zmq::send_flags::none);
 
@@ -187,13 +203,13 @@ bool SidepanelMonitor::getTreeFromServer()
 
 void SidepanelMonitor::on_Connect()
 {
-    if( !_connected)
+    if( !_connected )
     {
-        QString address = ui->lineEdit->text();
+        QString address = ui->lineEdit_address->text();
         if( address.isEmpty() )
         {
-            address = ui->lineEdit->placeholderText();
-            ui->lineEdit->setText(address);
+            address = ui->lineEdit_address->placeholderText();
+            ui->lineEdit_address->setText(address);
         }
 
         QString publisher_port = ui->lineEdit_publisher->text();
@@ -221,13 +237,16 @@ void SidepanelMonitor::on_Connect()
 
                 int timeout_ms = 1;
                 _zmq_subscriber.setsockopt(ZMQ_SUBSCRIBE, "", 0);
-                _zmq_subscriber.setsockopt(ZMQ_RCVTIMEO,&timeout_ms, sizeof(int) );
+                _zmq_subscriber.setsockopt(ZMQ_RCVTIMEO, &timeout_ms, sizeof(int) );
 
                 if( !getTreeFromServer() )
                 {
                     failed = true;
                     _connected = false;
                 }
+                // After we try get a tree on connect, reset to the default timeout.
+                // This is done so that we only use the increased autoconnect timeout once.
+                this->set_load_tree_timeout_ms(_load_tree_default_timeout_ms);
             }
             catch(zmq::error_t& err)
             {
@@ -241,9 +260,9 @@ void SidepanelMonitor::on_Connect()
         if( !failed )
         {
             _connected = true;
-            ui->lineEdit->setDisabled(true);
+            ui->lineEdit_address->setDisabled(true);
             ui->lineEdit_publisher->setDisabled(true);
-            _timer->start(20);
+            _timer->start(_timer_period_ms);
             connectionUpdate(true);
         }
         else{
@@ -255,7 +274,7 @@ void SidepanelMonitor::on_Connect()
     }
     else{
         _connected = false;
-        ui->lineEdit->setDisabled(false);
+        ui->lineEdit_address->setDisabled(false);
         ui->lineEdit_publisher->setDisabled(false);
         _timer->stop();
 

bt_editor/sidepanel_monitor.h

@@ -15,11 +15,26 @@ class SidepanelMonitor : public QFrame
     Q_OBJECT
 
 public:
-    explicit SidepanelMonitor(QWidget *parent = nullptr);
+    /// Timer period in milliseconds.
+    static constexpr int _timer_period_ms = 20;
+    /// Default timeout to get behavior tree, in milliseconds.
+    static constexpr int _load_tree_default_timeout_ms = 1000;
+    /// Timeout to get behavior tree during autoconnect, in milliseconds.
+    static constexpr int _load_tree_autoconnect_timeout_ms = 10000;
+
+    explicit SidepanelMonitor(QWidget *parent = nullptr,
+                              const QString &address = "",
+                              const QString &publisher_port = "",
+                              const QString &server_port = "");
     ~SidepanelMonitor();
 
     void clear();
 
+    void set_load_tree_timeout_ms(const int timeout_ms)
+    {
+        _load_tree_timeout_ms = timeout_ms;
+    };
+
 public slots:
 
     void on_Connect();
@@ -44,11 +59,14 @@ private slots:
     zmq::context_t _zmq_context;
     zmq::socket_t  _zmq_subscriber;
 
+    QTimer* _timer;
+
     bool _connected;
     std::string _connection_address_pub;
     std::string _connection_address_req;
-    QTimer* _timer;
     int _msg_count;
+
+    int _load_tree_timeout_ms;  // Timeout to get behavior tree.
     AbsBehaviorTree _loaded_tree;
     std::unordered_map<int, int> _uid_to_index;
 

bt_editor/sidepanel_monitor.ui

@@ -39,7 +39,7 @@
       </widget>
      </item>
      <item row="0" column="1">
-      <widget class="QLineEdit" name="lineEdit">
+      <widget class="QLineEdit" name="lineEdit_address">
        <property name="maximumSize">
         <size>
          <width>16777215</width>