abstract_logger.h

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#ifndef ABSTRACT_LOGGER_H
#define ABSTRACT_LOGGER_H

#include "behaviortree_cpp/behavior_tree.h"
#include "behaviortree_cpp/bt_factory.h"

namespace BT
{
enum class TimestampType
{
    ABSOLUTE,
    RELATIVE
};

typedef std::array<uint8_t, 12> SerializedTransition;

class StatusChangeLogger
{
  public:
    StatusChangeLogger(TreeNode* root_node);
    virtual ~StatusChangeLogger() = default;

    virtual void callback(BT::Duration timestamp, const TreeNode& node, NodeStatus prev_status,
                          NodeStatus status) = 0;

    virtual void flush() = 0;

    void setEnabled(bool enabled)
    {
        enabled_ = enabled;
    }

    void seTimestampType(TimestampType type)
    {
        type_ = type;
    }

    bool enabled() const
    {
        return enabled_;
    }

    // false by default.
    bool showsTransitionToIdle() const
    {
        return show_transition_to_idle_;
    }

    void enableTransitionToIdle(bool enable)
    {
        show_transition_to_idle_ = enable;
    }

  private:
    bool enabled_;
    bool show_transition_to_idle_;
    std::vector<TreeNode::StatusChangeSubscriber> subscribers_;
    TimestampType type_;
    BT::TimePoint first_timestamp_;
};

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

inline StatusChangeLogger::StatusChangeLogger(TreeNode* root_node)
  : enabled_(true), show_transition_to_idle_(true), type_(TimestampType::ABSOLUTE)
{
    first_timestamp_ = std::chrono::high_resolution_clock::now();

    auto subscribeCallback = [this](TimePoint timestamp, const TreeNode& node, NodeStatus prev,
                                    NodeStatus status) {
        if (enabled_ && (status != NodeStatus::IDLE || show_transition_to_idle_))
        {
            if (type_ == TimestampType::ABSOLUTE)
            {
                this->callback(timestamp.time_since_epoch(), node, prev, status);
            }
            else
            {
                this->callback(timestamp - first_timestamp_, node, prev, status);
            }
        }
    };

    auto visitor = [this, subscribeCallback](TreeNode* node) {
        subscribers_.push_back(node->subscribeToStatusChange(std::move(subscribeCallback)));
    };

    applyRecursiveVisitor(root_node, visitor);
}
}

#endif   // ABSTRACT_LOGGER_H