bt_file_logger_v2.h

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#pragma once
#include <fstream>
#include <deque>
#include <array>
#include <filesystem>
#include "behaviortree_cpp/loggers/abstract_logger.h"
 
namespace BT
{
class FileLogger2 : public StatusChangeLogger
{
public:
  FileLogger2(const Tree& tree, std::filesystem::path const& filepath);
 
  FileLogger2(const FileLogger2& other) = delete;
  FileLogger2& operator=(const FileLogger2& other) = delete;
 
  FileLogger2(FileLogger2&& other) = default;
  FileLogger2& operator=(FileLogger2&& other) = default;
 
  virtual ~FileLogger2() override;
 
  void callback(Duration timestamp, const TreeNode& node, NodeStatus prev_status,
                NodeStatus status) override;
 
  struct Transition
  {
    // when serializing, we will remove the initial time and serialize only
    // 6 bytes, instead of 8
    uint64_t timestamp_usec;
    // if you have more than 64.000 nodes, you are doing something wrong :)
    uint16_t node_uid;
    // enough bits to contain NodeStatus
    uint8_t status;
  };
 
  void flush() override;
 
private:
  struct PImpl;
  std::unique_ptr<PImpl> _p;
 
  void writerLoop();
};
 
}  // namespace BT