add builtin models to WriteTreeToXML

Author: facontidavide

examples/generate_log.cpp

@@ -2,6 +2,7 @@
 #include "behaviortree_cpp/loggers/groot2_publisher.h"
 #include "behaviortree_cpp/loggers/bt_file_logger_v2.h"
 #include "behaviortree_cpp/loggers/bt_sqlite_logger.h"
+#include "behaviortree_cpp/loggers/bt_cout_logger.h"
 
 // clang-format on
 
@@ -26,6 +27,7 @@ int main(int argc, char** argv)
     tree = factory.createTreeFromFile(file);
   }
 
+  BT::StdCoutLogger cout_logger(tree);
   BT::Groot2Publisher publisher(tree);
   BT::FileLogger2 file_logger(tree, "./generated_log.btlog");
   BT::SqliteLogger sqlite_logger(tree, "./generated_log.db3");

examples/t12_groot_howto.cpp

@@ -59,7 +59,7 @@ int main()
 
 
   std::cout << "----------- XML file  ----------\n"
-            << BT::WriteTreeToXML(tree, false)
+            << BT::WriteTreeToXML(tree, false, false)
             << "--------------------------------\n";
 
   // Connect the Groot2Publisher. This will allow Groot2 to

include/behaviortree_cpp/xml_parsing.h

@@ -43,12 +43,32 @@ class XMLParser : public Parser
 void VerifyXML(const std::string& xml_text,
                const std::unordered_map<std::string, NodeType>& registered_nodes);
 
+/**
+ * @brief writeTreeNodesModelXML generates an XMl that contains the manifests in the
+ * <TreeNodesModel>
+ *
+ * @param factory          the factory with the registered types
+ * @param include_builtin  if true, include the builtin Nodes
+ *
+ * @return  string containing the XML.
+ */
 [[nodiscard]]
 std::string writeTreeNodesModelXML(const BehaviorTreeFactory& factory,
                                    bool include_builtin = false);
 
+/**
+ * @brief WriteTreeToXML create a string that contains the XML that corresponds to a given tree.
+ * When using this function with a logger, you should probably set both add_metadata and
+ * add_builtin_models to true.
+ *
+ * @param tree               the input tree
+ * @param add_metadata       if true, the attributes "_uid" and "_fullPath" will be added to the nodes
+ * @param add_builtin_models if true, include the builtin Nodes into the <TreeNodesModel>
+ *
+ * @return string containing the XML.
+ */
 [[nodiscard]]
-std::string WriteTreeToXML(const Tree& tree, bool add_metadata = false);
+std::string WriteTreeToXML(const Tree& tree, bool add_metadata, bool add_builtin_models);
 
 }   // namespace BT
 

src/loggers/bt_file_logger_v2.cpp

@@ -18,7 +18,7 @@ FileLogger2::FileLogger2(const BT::Tree& tree, std::filesystem::path const& file
   //-------------------------------------
   file_stream_.open(filepath, std::ofstream::binary | std::ofstream::out);
 
-  std::string const xml = WriteTreeToXML(tree, true);
+  std::string const xml = WriteTreeToXML(tree, true, true);
 
   // serialize the length of the buffer in the first 4 bytes
   char write_buffer[8];

src/loggers/bt_sqlite_logger.cpp

@@ -13,10 +13,6 @@ SqliteLogger::SqliteLogger(const Tree &tree,
 
   db_ = std::make_unique<sqlite::Connection>(file.string());
 
-  sqlite::Statement(*db_, "PRAGMA journal_mode=WAL;");
-  sqlite::Statement(*db_, "PRAGMA synchronous = normal;");
-  sqlite::Statement(*db_, "PRAGMA temp_store = memory;");
-
   sqlite::Statement(*db_,
                     "CREATE TABLE IF NOT EXISTS Transitions ("
                     "timestamp  INTEGER PRIMARY KEY NOT NULL, "
@@ -37,7 +33,7 @@ SqliteLogger::SqliteLogger(const Tree &tree,
     sqlite::Statement(*db_, "DELETE from Definitions;");
   }
 
-  auto tree_xml = WriteTreeToXML(tree, true);
+  auto tree_xml = WriteTreeToXML(tree, true, true);
   sqlite::Statement(*db_,
                     "INSERT into Definitions (date, xml_tree) "
                     "VALUES (datetime('now','localtime'),?);",

src/loggers/groot2_publisher.cpp

@@ -73,7 +73,7 @@ Groot2Publisher::Groot2Publisher(const BT::Tree& tree,
     Groot2Publisher::used_ports.insert(server_port+1);
   }
 
-  tree_xml_ = WriteTreeToXML(tree, true);
+  tree_xml_ = WriteTreeToXML(tree, true, true);
 
   //-------------------------------
   // Prepare the status buffer

src/xml_parsing.cpp

@@ -909,7 +909,8 @@ void addNodeModelToXML(const TreeNodeManifest& model,
 void addTreeToXML(const Tree& tree,
                   XMLDocument& doc,
                   XMLElement* rootXML,
-                  bool add_metadata)
+                  bool add_metadata,
+                  bool add_builtin_models)
 {  
   std::function<void(const TreeNode&, XMLElement*)> addNode;
   addNode = [&](const TreeNode& node,
@@ -991,7 +992,7 @@ void addTreeToXML(const Tree& tree,
   std::map<std::string, const TreeNodeManifest*> ordered_models;
   for (const auto& [registration_ID, model] : tree.manifests)
   {
-    if(temp_factory.builtinNodes().count(registration_ID) == 0)
+    if(add_builtin_models || !temp_factory.builtinNodes().count(registration_ID))
     {
       ordered_models.insert( {registration_ID, &model} );
     }
@@ -1052,15 +1053,15 @@ Tree buildTreeFromFile(const BehaviorTreeFactory& factory,
   return parser.instantiateTree(blackboard);
 }
 
-std::string WriteTreeToXML(const Tree &tree, bool add_metadata)
+std::string WriteTreeToXML(const Tree &tree, bool add_metadata, bool add_builtin_models)
 {
   XMLDocument doc;
 
   XMLElement* rootXML = doc.NewElement("root");
   rootXML->SetAttribute("BTCPP_format", 4);
   doc.InsertFirstChild(rootXML);
 
-  addTreeToXML(tree, doc, rootXML, add_metadata);
+  addTreeToXML(tree, doc, rootXML, add_metadata, add_builtin_models);
 
   XMLPrinter printer;
   doc.Print(&printer);