The SqliteLogger is a logger that will store the tree and all the status transitions in a SQLite database (single file). More...

#include <bt_sqlite_logger.h>

Inheritance diagram for BT::SqliteLogger:

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Collaboration diagram for BT::SqliteLogger:

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Public Types
using	ExtraCallback = std::function< std::string(Duration, const TreeNode &, NodeStatus, NodeStatus)>

Public Member Functions
	SqliteLogger (const Tree &tree, std::filesystem::path const &file, bool append=false)
	To correctly read this log with Groot2, you must use the suffix ".db3". Constructor will throw otherwise.

	SqliteLogger (const SqliteLogger &)=delete

SqliteLogger &	operator= (const SqliteLogger &)=delete

	SqliteLogger (SqliteLogger &&)=delete

SqliteLogger &	operator= (SqliteLogger &&)=delete

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

Public Member Functions inherited from BT::StatusChangeLogger
	StatusChangeLogger (TreeNode *root_node)
	Construct and immediately subscribe to status changes.

	StatusChangeLogger (const StatusChangeLogger &other)=delete

StatusChangeLogger &	operator= (const StatusChangeLogger &other)=delete

	StatusChangeLogger (StatusChangeLogger &&other)=delete

StatusChangeLogger &	operator= (StatusChangeLogger &&other)=delete

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

virtual void	flush ()=0

void	setEnabled (bool enabled)

void	setTimestampType (TimestampType type)

bool	enabled () const

bool	showsTransitionToIdle () const

void	enableTransitionToIdle (bool enable)

Additional Inherited Members
Protected Member Functions inherited from BT::StatusChangeLogger
	StatusChangeLogger ()=default
	Default constructor for deferred subscription. Call subscribeToTreeChanges() when ready.

void	subscribeToTreeChanges (TreeNode *root_node)
	Subscribe to status changes. Call at end of constructor for deferred subscription.

Detailed Description

The SqliteLogger is a logger that will store the tree and all the status transitions in a SQLite database (single file).

SQL schema

CREATE TABLE IF NOT EXISTS Definitions ( session_id INTEGER PRIMARY KEY AUTOINCREMENT, date TEXT NOT NULL, xml_tree TEXT NOT NULL);

CREATE TABLE IF NOT EXISTS Nodes (" session_id INTEGER NOT NULL, fullpath VARCHAR, " node_uid INTEGER NOT NULL );

CREATE TABLE IF NOT EXISTS Transitions ( timestamp INTEGER PRIMARY KEY NOT NULL, session_id INTEGER NOT NULL, node_uid INTEGER NOT NULL, duration INTEGER, state INTEGER NOT NULL, extra_data VARCHAR );

You can append data to the same file; this allows you to store multiple experiments into the database. Yn that case, each recording has a unique session_id.

This is primarily meant to be used with Groot2, but the content of the tables is sufficiently self-explaining, and you can create your own tools to extract the information.

Constructor & Destructor Documentation

◆ SqliteLogger()

BT::SqliteLogger::SqliteLogger	(	const Tree &	tree,
		std::filesystem::path const &	file,
		bool	append = `false`
	)

To correctly read this log with Groot2, you must use the suffix ".db3". Constructor will throw otherwise.

Parameters

tree	the tree to log
filepath	path of the file where info will be stored
append	if true, add this recording to the database

Member Function Documentation

◆ callback()

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

overridevirtual

Implements BT::StatusChangeLogger.

◆ flush()

virtual void BT::SqliteLogger::flush ( )

overridevirtual

Implements BT::StatusChangeLogger.

The documentation for this class was generated from the following file:

include/behaviortree_cpp/loggers/bt_sqlite_logger.h

Public Types