bt_minitrace_logger.cpp

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#include "behaviortree_cpp/loggers/bt_minitrace_logger.h"
 
#define MTR_ENABLED true
#include "minitrace/minitrace.h"
 
namespace BT
{
 
MinitraceLogger::MinitraceLogger(const Tree& tree, const char* filename_json)
  : StatusChangeLogger(tree.rootNode())
{
  mtr_register_sigint_handler();
  mtr_init(filename_json);
  this->enableTransitionToIdle(true);
}
 
MinitraceLogger::~MinitraceLogger()
{
  mtr_flush();
  mtr_shutdown();
}
 
const char* toConstStr(NodeType type)
{
  switch(type)
  {
    case NodeType::ACTION:
      return "Action";
    case NodeType::CONDITION:
      return "Condition";
    case NodeType::DECORATOR:
      return "Decorator";
    case NodeType::CONTROL:
      return "Control";
    case NodeType::SUBTREE:
      return "SubTree";
    default:
      return "Undefined";
  }
}
 
void MinitraceLogger::callback(Duration /*timestamp*/, const TreeNode& node,
                               NodeStatus prev_status, NodeStatus status)
{
  const bool statusCompleted = isStatusCompleted(status);
 
  const char* category = toConstStr(node.type());
  const char* name = node.name().c_str();
 
  if(prev_status == NodeStatus::IDLE && statusCompleted)
  {
    MTR_INSTANT(category, name);
  }
  else if(status == NodeStatus::RUNNING)
  {
    MTR_BEGIN(category, name);
  }
  else if(prev_status == NodeStatus::RUNNING && statusCompleted)
  {
    MTR_END(category, name);
  }
  mtr_flush();
}
 
void MinitraceLogger::flush()
{
  mtr_flush();
}
}  // namespace BT