Method TreeObserver

src/loggers/bt_observer.cpp:8–45

namespace BT
{
TreeObserver::TreeObserver(const BT::Tree& tree) : StatusChangeLogger(tree.rootNode())
{
  std::function<void(const TreeNode&)> recursiveStep;

  recursiveStep = [&](const TreeNode& node) {
    if(auto control = dynamic_cast<const ControlNode*>(&node))
    {
      for(const auto& child : control->children())
      {
        recursiveStep(*child);
      }
    }
    else if(auto decorator = dynamic_cast<const DecoratorNode*>(&node))
    {
      if(decorator->type() != NodeType::SUBTREE)
      {
        recursiveStep(*decorator->child());
      }
    }

    if(_path_to_uid.count(node.fullPath()) != 0)
    {
      throw LogicError("TreeObserver not built correctly. Report issue");
    }
    _path_to_uid[node.fullPath()] = node.UID();
  };

  for(const auto& subtree : tree.subtrees)
  {
    recursiveStep(*subtree->nodes.front());
  }

  for(const auto& [path, uid] : _path_to_uid)
  {
    _statistics[uid] = {};
    _uid_to_path[uid] = path;
  }
}

TreeObserver::~TreeObserver()
{}