launch live server

CHANGELOG.md

@@ -4,11 +4,15 @@ All notable changes to this project will be documented in this file.
 The format is based on [Keep a Changelog](http://keepachangelog.com/en/1.0.0/)
 and this project adheres to [Semantic Versioning](http://semver.org/spec/v2.0.0.html).
 
-## [1.0.0](https://github.com/HAROS-framework/hpl-rv-ros/releases/tag/v1.0.0) - 2023-08-01
+## [v1.0.1](https://github.com/HAROS-framework/hpl-rv-ros/releases/tag/v1.0.1) - 2023-08-01
+### Changed
+- The generated ROS nodes now start the live monitoring server.
+
+## [v1.0.0](https://github.com/HAROS-framework/hpl-rv-ros/releases/tag/v1.0.0) - 2023-08-01
 Initial release.
 
 This package provides a tool to generate ROS1 and ROS2 Python runtime monitors from HPL specifications.
 This version includes both an interface to use as a library and a CLI script for direct usage.
 
-## [0.0.0](https://github.com/HAROS-framework/hpl-rv-ros/releases/tag/v0.0.0) - 2023-07-19
+## [v0.0.0](https://github.com/HAROS-framework/hpl-rv-ros/releases/tag/v0.0.0) - 2023-07-19
 Repository creation.

src/hplrv_ros/templates/rclpy.py.jinja

@@ -26,6 +26,9 @@ class HplMonitorNode(Node):
     def __init__(self):
         super().__init__('hplrv_monitor')
         self.monitor = HplMonitorManager(success_cb=self._on_success, failure_cb=self._on_failure)
+        self.monitor.live_server.host = '127.0.0.1'
+        self.monitor.live_server.port = 4242
+        self._thread = None
         self.timer = self.create_timer(0.01, self.on_timer)
         latching_qos = QoSProfile(
             depth=1,
@@ -51,12 +54,16 @@ class HplMonitorNode(Node):
         ]
 
     def on_launch(self):
+        self._thread = self.monitor.live_server.start_thread()
         t = self.get_clock().now()
         self.monitor.launch(t)
 
     def on_shutdown(self):
         t = self.get_clock().now()
         self.monitor.shutdown(t)
+        assert self._thread is not None
+        self._thread.join(10.0)
+        self._thread = None
 
     def on_timer(self):
         t = self.get_clock().now()

src/hplrv_ros/templates/rospy.py.jinja

@@ -21,6 +21,8 @@ import {{ rospkg }}.msg as {{ rospkg }}
 class HplMonitorNode:
     def __init__(self):
         self.monitor = HplMonitorManager(success_cb=self._on_success, failure_cb=self._on_failure)
+        self.monitor.live_server.host = '127.0.0.1'
+        self.monitor.live_server.port = 4242
         self.pubs = {}
         for i in range(len(self.monitor.monitors)):
             mon = self.monitor.monitors[i]
@@ -37,6 +39,7 @@ class HplMonitorNode:
         ]
 
     def run(self):
+        thread = self.monitor.live_server.start_thread()
         t = rospy.get_time()
         self.monitor.launch(t)
         rate = rospy.Rate(100) # 100hz
@@ -48,6 +51,7 @@ class HplMonitorNode:
         except rospy.ROSInterruptException:
             t = rospy.get_time()
             self.monitor.shutdown(t)
+            thread.join(10.0)
     {# -#}
 {% for topic in topics %}