fix compilation

BehaviorTree · Jul 20, 2023 · 947460f · 947460f
1 parent 70a6499
commit 947460f
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diff --git a/include/behaviortree_cpp_v3/loggers/groot2_publisher.h b/include/behaviortree_cpp_v3/loggers/groot2_publisher.h
@@ -21,8 +21,6 @@ class Groot2Publisher : public StatusChangeLogger
   static std::mutex used_ports_mutex;
   static std::set<unsigned> used_ports;
 
-  using Position = Monitor::Hook::Position;
-
   public:
   Groot2Publisher(const BT::Tree& tree, unsigned server_port = 1667);
 

diff --git a/src/loggers/groot2_publisher.cpp b/src/loggers/groot2_publisher.cpp
@@ -85,13 +85,6 @@ struct Groot2Publisher::PImpl
 
   std::unordered_map<uint16_t, std::weak_ptr<BT::TreeNode>> nodes_by_uid;
 
-  std::mutex hooks_map_mutex;
-  std::unordered_map<uint16_t, Monitor::Hook::Ptr> pre_hooks;
-  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::atomic_bool recording;
   std::deque<Transition> transitions_buffer;
   std::chrono::microseconds recording_fist_time;
@@ -212,18 +205,13 @@ void Groot2Publisher::serverLoop()
     error_msg.send(socket);
   };
 
-  // initialize _p->last_heartbeat
-  _p->last_heartbeat = std::chrono::system_clock::now();
-
   while (_p->active_server)
   {
     zmq::multipart_t requestMsg;
     if( !requestMsg.recv(socket) || requestMsg.size() == 0)
     {
       continue;
     }
-    // this heartbeat will help establishing if Groot is connected or not
-    _p->last_heartbeat = std::chrono::system_clock::now();
 
     std::string const request_str = requestMsg[0].to_string();
     if(request_str.size() != Monitor::RequestHeader::size())