bt_sqlite_logger.h

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#pragma once
 
#include <filesystem>
#include "behaviortree_cpp/loggers/abstract_logger.h"
 
namespace sqlite
{
class Connection;
}
 
namespace BT
{
 
class SqliteLogger : public StatusChangeLogger
{
public:
  SqliteLogger(const Tree& tree, std::filesystem::path const& file, bool append = false);
 
  virtual ~SqliteLogger() override;
 
  // You can inject a function that add a string to the Transitions table,
  // in the column "extra_data".
  // The arguments of the function are the same as SqliteLogger::callback()
  using ExtraCallback =
      std::function<std::string(Duration, const TreeNode&, NodeStatus, NodeStatus)>;
  void setAdditionalCallback(ExtraCallback func);
 
  virtual void callback(Duration timestamp, const TreeNode& node, NodeStatus prev_status,
                        NodeStatus status) override;
 
  void execSqlStatement(std::string statement);
 
  virtual void flush() override;
 
private:
  std::unique_ptr<sqlite::Connection> db_;
 
  int64_t monotonic_timestamp_ = 0;
  std::unordered_map<const BT::TreeNode*, int64_t> starting_time_;
 
  int session_id_ = -1;
 
  struct Transition
  {
    uint16_t node_uid;
    int64_t timestamp;
    int64_t duration;
    NodeStatus status;
    std::string extra_data;
  };
 
  std::deque<Transition> transitions_queue_;
  std::condition_variable queue_cv_;
  std::mutex queue_mutex_;
 
  std::thread writer_thread_;
  std::atomic_bool loop_ = true;
 
  ExtraCallback extra_func_;
 
  void writerLoop();
};
 
}  // namespace BT