add metadata to SqliteLogger

Author: facontidavide

examples/t12_groot_howto.cpp

@@ -125,6 +125,21 @@ int main()
   bool append_to_database = true;
   BT::SqliteLogger sqlite_logger(tree, "t12_sqlitelog.db3", append_to_database);
 
+  // We can add some extra information to the SqliteLogger, for instance the value of the
+  // "door_open" blackboard entry, at the end of node "tryOpen" (Fallback)
+
+  auto sqlite_callback = [](BT::Duration timestamp, const BT::TreeNode& node,
+                            BT::NodeStatus prev_status,
+                            BT::NodeStatus status) -> std::string {
+    if(node.name() == "tryOpen" && BT::isStatusCompleted(status))
+    {
+      auto is_open = BT::toStr(node.config().blackboard->get<bool>("door_open"));
+      return "[tryOpen] door_open=" + is_open;
+    }
+    return {};
+  };
+  sqlite_logger.setMetadataCallback(sqlite_callback);
+
   while(1)
   {
     std::cout << "Start" << std::endl;

include/behaviortree_cpp/loggers/bt_sqlite_logger.h

@@ -37,6 +37,12 @@ class SqliteLogger : public StatusChangeLogger
 
   virtual ~SqliteLogger() override;
 
+  // You can inject a function that add a metadata filed (a string) to the raw in the table.
+  // The arguments of the function are the same as SqliteLogger::callback()
+  using MetadataFunc =
+      std::function<std::string(Duration, const TreeNode&, NodeStatus, NodeStatus)>;
+  void setMetadataCallback(MetadataFunc func);
+
   virtual void callback(Duration timestamp, const TreeNode& node, NodeStatus prev_status,
                         NodeStatus status) override;
 
@@ -56,6 +62,7 @@ class SqliteLogger : public StatusChangeLogger
     int64_t timestamp;
     int64_t duration;
     NodeStatus status;
+    std::string metadata;
   };
 
   std::deque<Transition> transitions_queue_;
@@ -65,6 +72,8 @@ class SqliteLogger : public StatusChangeLogger
   std::thread writer_thread_;
   std::atomic_bool loop_ = true;
 
+  MetadataFunc meta_func_;
+
   void writerLoop();
 };
 

src/loggers/bt_sqlite_logger.cpp

@@ -24,7 +24,8 @@ SqliteLogger::SqliteLogger(const Tree& tree, std::filesystem::path const& filepa
                           "session_id INTEGER NOT NULL, "
                           "uid        INTEGER NOT NULL, "
                           "duration   INTEGER, "
-                          "state      INTEGER NOT NULL);");
+                          "state      INTEGER NOT NULL,"
+                          "metadata   VARCHAR );");
 
   sqlite::Statement(*db_, "CREATE TABLE IF NOT EXISTS Definitions ("
                           "session_id INTEGER PRIMARY KEY AUTOINCREMENT, "
@@ -61,6 +62,11 @@ SqliteLogger::~SqliteLogger()
   sqlite::Statement(*db_, "PRAGMA optimize;");
 }
 
+void SqliteLogger::setMetadataCallback(MetadataFunc func)
+{
+  meta_func_ = func;
+}
+
 void SqliteLogger::callback(Duration timestamp, const TreeNode& node,
                             NodeStatus prev_status, NodeStatus status)
 {
@@ -91,6 +97,11 @@ void SqliteLogger::callback(Duration timestamp, const TreeNode& node,
   trans.node_uid = node.UID();
   trans.status = status;
 
+  if(meta_func_)
+  {
+    trans.metadata = meta_func_(timestamp, node, prev_status, status);
+  }
+
   {
     std::scoped_lock lk(queue_mutex_);
     transitions_queue_.push_back(trans);
@@ -116,9 +127,9 @@ void SqliteLogger::writerLoop()
       auto const trans = transitions.front();
       transitions.pop_front();
 
-      sqlite::Statement(*db_, "INSERT INTO Transitions VALUES (?, ?, ?, ?, ?)",
+      sqlite::Statement(*db_, "INSERT INTO Transitions VALUES (?, ?, ?, ?, ?, ?)",
                         trans.timestamp, session_id_, trans.node_uid, trans.duration,
-                        static_cast<int>(trans.status));
+                        static_cast<int>(trans.status), trans.metadata);
     }
   }
 }