bt_minitrace_logger.cpp

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#include "behaviortree_cpp_v3/loggers/bt_minitrace_logger.h"
#include "minitrace/minitrace.h"

namespace BT
{
std::atomic<bool> MinitraceLogger::ref_count(false);

MinitraceLogger::MinitraceLogger(const Tree& tree, const char* filename_json) :
  StatusChangeLogger(tree.rootNode())
{
  bool expected = false;
  if (!ref_count.compare_exchange_strong(expected, true))
  {
    throw LogicError("Only one instance of StdCoutLogger shall be created");
  }

  minitrace::mtr_register_sigint_handler();
  minitrace::mtr_init(filename_json);
  this->enableTransitionToIdle(true);
}

MinitraceLogger::~MinitraceLogger()
{
  minitrace::mtr_flush();
  minitrace::mtr_shutdown();
  ref_count = false;
}

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)
{
  using namespace minitrace;

  const bool statusCompleted =
      (status == NodeStatus::SUCCESS || status == NodeStatus::FAILURE);

  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);
  }
}

void MinitraceLogger::flush()
{
  minitrace::mtr_flush();
}
}   // namespace BT