add simple example to generate logs

Author: facontidavide

examples/CMakeLists.txt

@@ -30,6 +30,7 @@ CompileExample("t11_replace_rules")
 
 if(BTCPP_GROOT_INTERFACE AND BTCPP_SQLITE_LOGGING)
 CompileExample("t12_groot_howto")
+CompileExample("generate_log")
 endif()
 
 CompileExample("ex01_wrap_legacy")

examples/generate_log.cpp

@@ -0,0 +1,41 @@
+#include "behaviortree_cpp/bt_factory.h"
+#include "behaviortree_cpp/loggers/groot2_publisher.h"
+#include "behaviortree_cpp/loggers/bt_file_logger_v2.h"
+#include "behaviortree_cpp/loggers/bt_sqlite_logger.h"
+
+// clang-format on
+
+int main(int argc, char** argv)
+{
+  if(argc < 2 || argc > 3) {
+    std::cout << "Provide a XML file as first argument. "
+                 "Second argument might be the name of the tree to instantiate." << std::endl;
+    return 1;
+  }
+  const std::string file = argv[1];
+
+  BT::BehaviorTreeFactory factory;
+
+  BT::Tree tree;
+
+  if(argc == 3) {
+    factory.registerBehaviorTreeFromFile(file);
+    tree = factory.createTree(argv[2]);
+  }
+  else {
+    tree = factory.createTreeFromFile(file);
+  }
+
+  BT::Groot2Publisher publisher(tree);
+  BT::FileLogger2 file_logger(tree, "./generated_log.btlog");
+  BT::SqliteLogger sqlite_logger(tree, "./generated_log.db3");
+
+  // helper function to print the tree
+  BT::printTreeRecursively(tree.rootNode());
+
+  std::cout << "\nTree will run indefinitively. Press CTRL-C to stop\n";
+
+  while(true) {
+    tree.tickWhileRunning();
+  }
+}

examples/test_files/log_test.xml

@@ -0,0 +1,21 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<root BTCPP_format="4">
+    <BehaviorTree ID="Main">
+        <Sequence>
+            <SubTree ID="Subtree" name="FirstSubtree"/>
+            <SubTree ID="Subtree" name="SecondSubtree"/>
+        </Sequence>
+    </BehaviorTree>
+    <BehaviorTree ID="Subtree">
+        <Sequence name="SleepSequence">
+            <Sleep msec="300"/>
+            <AlwaysSuccess/>
+        </Sequence>
+    </BehaviorTree>
+    <!-- Description of Node Models (used by Groot) -->
+    <TreeNodesModel>
+        <Action ID="Sleep" editable="true">
+            <input_port name="msec"/>
+        </Action>
+    </TreeNodesModel>
+</root>