updated FileLogger2

Author: facontidavide

include/behaviortree_cpp/loggers/bt_file_logger_v2.h

@@ -23,6 +23,13 @@ namespace BT
 class FileLogger2 : public StatusChangeLogger
 {
   public:
+  /**
+   * @brief To correctly read this log with Groot2, you must use the suffix ".btlog".
+   * Constructor will throw otherwise.
+   *
+   * @param tree      the tree to log
+   * @param filepath  path of the file where info will be stored
+   */
   FileLogger2(const Tree& tree, std::filesystem::path const& filepath);
 
   virtual ~FileLogger2() override;
@@ -32,12 +39,11 @@ class FileLogger2 : public StatusChangeLogger
 
   struct Transition
   {
-    // 45 bits are enough for 35 million seconds (more than 1 year) relative to the first timestamp
-    uint64_t timestamp_usec : 45;
+    uint64_t timestamp_usec;
     // if you have more than 64.000 nodes, you are doing something wrong :)
-    uint64_t node_uid : 16;
+    uint16_t node_uid;
     // enough bits to contain NodeStatus
-    uint64_t status : 3;
+    uint8_t status;
   };
 
   void flush() override;

include/behaviortree_cpp/loggers/bt_sqlite_logger.h

@@ -24,6 +24,14 @@ namespace BT
 class SqliteLogger : public StatusChangeLogger
 {
 public:
+  /**
+   * @brief To correctly read this log with Groot2, you must use the suffix ".db3".
+   * Constructor will throw otherwise.
+   *
+   * @param tree      the tree to log
+   * @param filepath  path of the file where info will be stored
+   * @param append    if true, add this recording to the database
+   */
   SqliteLogger(const Tree &tree,
                std::filesystem::path const& file,
                bool append = false);

src/loggers/bt_file_logger_v2.cpp

@@ -13,6 +13,11 @@ int64_t ToUsec(Duration ts)
 FileLogger2::FileLogger2(const BT::Tree& tree, std::filesystem::path const& filepath) :
   StatusChangeLogger(tree.rootNode())
 {
+  if(filepath.filename().extension() != ".btlog")
+  {
+    throw RuntimeError("FileLogger2: the file extension must be [.btlog]");
+  }
+
   enableTransitionToIdle(true);
 
   //-------------------------------------
@@ -24,6 +29,10 @@ FileLogger2::FileLogger2(const BT::Tree& tree, std::filesystem::path const& file
 
   file_stream_ << "BTCPP4-FileLogger2";
 
+  const uint8_t protocol = 1;
+
+  file_stream_ << protocol;
+
   std::string const xml = WriteTreeToXML(tree, true, true);
 
   // serialize the length of the buffer in the first 4 bytes
@@ -88,9 +97,13 @@ void FileLogger2::writerLoop()
     }
     while(!transitions.empty())
     {
-      char write_buffer[8];
-      flatbuffers::WriteScalar(write_buffer, transitions.front());
-      file_stream_.write(write_buffer, 8);
+      const auto trans = transitions.front();
+      std::array<char, 9> write_buffer;
+      std::memcpy(write_buffer.data(), &trans.timestamp_usec, 6 );
+      std::memcpy(write_buffer.data() + 6, &trans.node_uid, 2 );
+      std::memcpy(write_buffer.data() + 8, &trans.status, 1 );
+
+      file_stream_.write(write_buffer.data(), 9);
       transitions.pop_front();
     }
     file_stream_.flush();

src/loggers/bt_sqlite_logger.cpp

@@ -5,13 +5,18 @@
 namespace BT {
 
 SqliteLogger::SqliteLogger(const Tree &tree,
-                           std::filesystem::path const& file,
+                           std::filesystem::path const& filepath,
                            bool append):
   StatusChangeLogger(tree.rootNode())
 {
+  if(filepath.filename().extension() != ".db3")
+  {
+    throw RuntimeError("SqliteLogger: the file extension must be [.db3]");
+  }
+
   enableTransitionToIdle(true);
 
-  db_ = std::make_unique<sqlite::Connection>(file.string());
+  db_ = std::make_unique<sqlite::Connection>(filepath.string());
 
   sqlite::Statement(*db_,
                     "CREATE TABLE IF NOT EXISTS Transitions ("