bt_file_logger.cpp

Go to the documentation of this file.

#include "behaviortree_cpp_v3/loggers/bt_file_logger.h"
#include "behaviortree_cpp_v3/flatbuffers/bt_flatbuffer_helper.h"

namespace BT
{
FileLogger::FileLogger(const BT::Tree& tree, const char* filename, uint16_t buffer_size) :
  StatusChangeLogger(tree.rootNode()), buffer_max_size_(buffer_size)
{
  if (buffer_max_size_ != 0)
  {
    buffer_.reserve(buffer_max_size_);
  }

  enableTransitionToIdle(true);

  flatbuffers::FlatBufferBuilder builder(1024);
  CreateFlatbuffersBehaviorTree(builder, tree);

  //-------------------------------------

  file_os_.open(filename, std::ofstream::binary | std::ofstream::out);

  // serialize the length of the buffer in the first 4 bytes
  char size_buff[4];
  flatbuffers::WriteScalar(size_buff, static_cast<int32_t>(builder.GetSize()));

  file_os_.write(size_buff, 4);
  file_os_.write(reinterpret_cast<const char*>(builder.GetBufferPointer()),
                 builder.GetSize());
}

FileLogger::~FileLogger()
{
  this->flush();
  file_os_.close();
}

void FileLogger::callback(Duration timestamp, const TreeNode& node,
                          NodeStatus prev_status, NodeStatus status)
{
  SerializedTransition buffer =
      SerializeTransition(node.UID(), timestamp, prev_status, status);

  if (buffer_max_size_ == 0)
  {
    file_os_.write(reinterpret_cast<const char*>(buffer.data()), buffer.size());
  }
  else
  {
    buffer_.push_back(buffer);
    if (buffer_.size() >= buffer_max_size_)
    {
      this->flush();
    }
  }
}

void FileLogger::flush()
{
  for (const auto& array : buffer_)
  {
    file_os_.write(reinterpret_cast<const char*>(array.data()), array.size());
  }
  file_os_.flush();
  buffer_.clear();
}
}   // namespace BT