clean up sqlite

Author: facontidavide

examples/ex08_sqlite_log.cpp

@@ -111,46 +111,8 @@ int main()
   BT::SqliteLogger sqlite_logger(tree, "ex08_sqlitelog.db3", false);
 
   //------------------------------------------------------------------------
-  // Approach ONE: create additional tables.
-  // This requires you to execute a "CREATE TABLE IF NOT EXISTS..." statement
-  // at the beginning and then an "INSERT INTO TaskB VALUES .." statement
-  // in a callback injected using sqlite_logger.setAdditionalCallback()
-
-  sqlite_logger.execSqlStatement("CREATE TABLE IF NOT EXISTS TaskA ("
-                                 "name   VARCHAR, "
-                                 "type   INTEGER );");
-
-  sqlite_logger.execSqlStatement("CREATE TABLE IF NOT EXISTS TaskB ("
-                                 "name   VARCHAR, "
-                                 "value  REAL );");
-
-  auto extra_callback = [&](BT::Duration timestamp, const BT::TreeNode& node,
-                            BT::NodeStatus prev_status, BT::NodeStatus status) -> void {
-    if(prev_status == BT::NodeStatus::RUNNING && BT::isStatusCompleted(status))
-    {
-      if(node.name() == "ExecuteTaskA")
-      {
-        auto task = node.config().blackboard->get<Command>("task");
-        auto taskA = std::get<TaskA>(task);
-        auto str = BT::StrCat("INSERT INTO TaskA VALUES ", "('", taskA.name, "',",
-                              std::to_string(taskA.type), ");");
-        sqlite_logger.execSqlStatement(str);
-      }
-      if(node.name() == "ExecuteTaskB")
-      {
-        auto task = node.config().blackboard->get<Command>("task");
-        auto taskB = std::get<TaskB>(task);
-        auto str = BT::StrCat("INSERT INTO TaskB VALUES ", "('", taskB.name, "',",
-                              std::to_string(taskB.value), ");");
-        sqlite_logger.execSqlStatement(str);
-      }
-    }
-  };
-  sqlite_logger.setAdditionalCallback(extra_callback);
-
-  //------------------------------------------------------------------------
-  // Approach TWO: serialize data into the extra column "metadata"
-  // We will use JSON serialization
+  // Write some data (from the blackboard) and write into the
+  // extra column called "extra_data". We will use JSON serialization
 
   auto meta_callback = [&](BT::Duration timestamp, const BT::TreeNode& node,
                            BT::NodeStatus prev_status,
@@ -176,7 +138,7 @@ int main()
     }
     return {};
   };
-  sqlite_logger.setMetadataCallback(meta_callback);
+  sqlite_logger.setAdditionalCallback(meta_callback);
   //------------------------------------------------------------------------
   while(1)
   {

examples/t12_groot_howto.cpp

@@ -98,7 +98,7 @@ int main()
   // Groot2 editor requires a model of your registered Nodes.
   // You don't need to write that by hand, it can be automatically
   // generated using the following command.
-  std::string xml_models = BT::writeTreeNodesModelXML(factory);
+  const std::string xml_models = BT::writeTreeNodesModelXML(factory);
 
   factory.registerBehaviorTreeFromText(xml_text);
 
@@ -138,7 +138,7 @@ int main()
     }
     return {};
   };
-  sqlite_logger.setMetadataCallback(sqlite_callback);
+  sqlite_logger.setAdditionalCallback(sqlite_callback);
 
   while(1)
   {

include/behaviortree_cpp/loggers/bt_sqlite_logger.h

@@ -11,6 +11,28 @@ class Connection;
 namespace BT
 {
 
+/** 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 );
+ *
+ */
+
 /**
  * @brief The SqliteLogger is a logger that will store the tree and all the
  * status transitions in a SQLite database (single file).
@@ -37,14 +59,11 @@ 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.
+  // You can inject a function that add a string to the Transitions table,
+  // in the column "extra_data".
   // The arguments of the function are the same as SqliteLogger::callback()
-  using MetadataCallback =
-      std::function<std::string(Duration, const TreeNode&, NodeStatus, NodeStatus)>;
-  void setMetadataCallback(MetadataCallback func);
-
   using ExtraCallback =
-      std::function<void(Duration, const TreeNode&, NodeStatus, NodeStatus)>;
+      std::function<std::string(Duration, const TreeNode&, NodeStatus, NodeStatus)>;
   void setAdditionalCallback(ExtraCallback func);
 
   virtual void callback(Duration timestamp, const TreeNode& node, NodeStatus prev_status,
@@ -68,7 +87,7 @@ class SqliteLogger : public StatusChangeLogger
     int64_t timestamp;
     int64_t duration;
     NodeStatus status;
-    std::string metadata;
+    std::string extra_data;
   };
 
   std::deque<Transition> transitions_queue_;
@@ -78,7 +97,6 @@ class SqliteLogger : public StatusChangeLogger
   std::thread writer_thread_;
   std::atomic_bool loop_ = true;
 
-  MetadataCallback meta_func_;
   ExtraCallback extra_func_;
 
   void writerLoop();

src/loggers/bt_sqlite_logger.cpp

@@ -22,15 +22,15 @@ SqliteLogger::SqliteLogger(const Tree& tree, std::filesystem::path const& filepa
   sqlite::Statement(*db_, "CREATE TABLE IF NOT EXISTS Transitions ("
                           "timestamp  INTEGER PRIMARY KEY NOT NULL, "
                           "session_id INTEGER NOT NULL, "
-                          "uid        INTEGER NOT NULL, "
+                          "node_uid   INTEGER NOT NULL, "
                           "duration   INTEGER, "
                           "state      INTEGER NOT NULL,"
-                          "metadata   VARCHAR );");
+                          "extra_data VARCHAR );");
 
   sqlite::Statement(*db_, "CREATE TABLE IF NOT EXISTS Nodes ("
                           "session_id INTEGER NOT NULL, "
                           "fullpath   VARCHAR, "
-                          "uid        INTEGER NOT NULL );");
+                          "node_uid   INTEGER NOT NULL );");
 
   sqlite::Statement(*db_, "CREATE TABLE IF NOT EXISTS Definitions ("
                           "session_id INTEGER PRIMARY KEY AUTOINCREMENT, "
@@ -41,6 +41,7 @@ SqliteLogger::SqliteLogger(const Tree& tree, std::filesystem::path const& filepa
   {
     sqlite::Statement(*db_, "DELETE from Transitions;");
     sqlite::Statement(*db_, "DELETE from Definitions;");
+    sqlite::Statement(*db_, "DELETE from Nodes;");
   }
 
   auto tree_xml = WriteTreeToXML(tree, true, true);
@@ -49,7 +50,8 @@ SqliteLogger::SqliteLogger(const Tree& tree, std::filesystem::path const& filepa
                     "VALUES (datetime('now','localtime'),?);",
                     tree_xml);
 
-  auto res = sqlite::Query(*db_, "SELECT MAX(session_id) FROM Definitions LIMIT 1;");
+  auto res = sqlite::Query(*db_, "SELECT MAX(session_id) "
+                                 "FROM Definitions LIMIT 1;");
 
   while(res.Next())
   {
@@ -77,11 +79,6 @@ SqliteLogger::~SqliteLogger()
   sqlite::Statement(*db_, "PRAGMA optimize;");
 }
 
-void SqliteLogger::setMetadataCallback(MetadataCallback func)
-{
-  meta_func_ = func;
-}
-
 void SqliteLogger::setAdditionalCallback(ExtraCallback func)
 {
   extra_func_ = func;
@@ -117,9 +114,9 @@ void SqliteLogger::callback(Duration timestamp, const TreeNode& node,
   trans.node_uid = node.UID();
   trans.status = status;
 
-  if(meta_func_)
+  if(extra_func_)
   {
-    trans.metadata = meta_func_(timestamp, node, prev_status, status);
+    trans.extra_data = extra_func_(timestamp, node, prev_status, status);
   }
 
   {
@@ -159,7 +156,7 @@ void SqliteLogger::writerLoop()
 
       sqlite::Statement(*db_, "INSERT INTO Transitions VALUES (?, ?, ?, ?, ?, ?)",
                         trans.timestamp, session_id_, trans.node_uid, trans.duration,
-                        static_cast<int>(trans.status), trans.metadata);
+                        static_cast<int>(trans.status), trans.extra_data);
     }
   }
 }