Function main

examples/ex03_sqlite_log.cpp:89–150

// clang-format on

int main()
{
  BT::BehaviorTreeFactory factory;

  // Nodes registration, as usual
  factory.registerNodeType<DummyNodes::SaySomething>("SaySomething");
  factory.registerNodeType<SetTask>("SetTask");

  // 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);

  factory.registerBehaviorTreeFromText(xml_text);

  auto tree = factory.createTree("MainTree");

  std::cout << "----------- XML file  ----------\n"
            << BT::WriteTreeToXML(tree, false, false)
            << "--------------------------------\n";

  BT::SqliteLogger sqlite_logger(tree, "ex08_sqlitelog.db3", false);

  //------------------------------------------------------------------------
  // 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,
                           BT::NodeStatus status) -> std::string {
    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);
        nlohmann::json json;
        json["taskA"] = { { "name", taskA.name }, { "type", taskA.type } };
        return json.dump();
      }
      if(node.name() == "ExecuteTaskB")
      {
        auto task = node.config().blackboard->get<Command>("task");
        auto taskB = std::get<TaskB>(task);
        nlohmann::json json;
        json["taskB"] = { { "name", taskB.name }, { "value", taskB.value } };
        return json.dump();
      }
    }
    return {};
  };
  sqlite_logger.setAdditionalCallback(meta_callback);
  //------------------------------------------------------------------------
  while(1)
  {
    std::cout << "Start" << std::endl;
    tree.tickWhileRunning();
    std::this_thread::sleep_for(std::chrono::milliseconds(2000));