fix issue #834: enable minitrace

BehaviorTree · Jun 18, 2024 · 38a15d3 · 38a15d3
1 parent bcceae7
commit 38a15d3
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Showing 4 changed files with 9 additions and 6 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -80,6 +80,10 @@ endif()
 
 add_subdirectory(3rdparty/lexy)
 
+add_library(minitrace STATIC 3rdparty/minitrace/minitrace.cpp)
+target_compile_definitions(minitrace PRIVATE MTR_ENABLED=True)
+set_property(TARGET minitrace PROPERTY POSITION_INDEPENDENT_CODE ON)
+
 list(APPEND BT_SOURCE
     src/action_node.cpp
     src/basic_types.cpp
@@ -124,7 +128,6 @@ list(APPEND BT_SOURCE
     src/loggers/bt_observer.cpp
 
     3rdparty/tinyxml2/tinyxml2.cpp
-    3rdparty/minitrace/minitrace.cpp
     )
 
 
@@ -163,6 +166,7 @@ target_link_libraries(${BTCPP_LIBRARY}
         Threads::Threads
         ${CMAKE_DL_LIBS}
         $<BUILD_INTERFACE:foonathan::lexy>
+        minitrace
     PUBLIC
         ${BTCPP_EXTRA_LIBRARIES}
 )

diff --git a/examples/t11_groot_howto.cpp b/examples/t11_groot_howto.cpp
@@ -4,6 +4,7 @@
 #include "behaviortree_cpp/loggers/groot2_publisher.h"
 #include "behaviortree_cpp/xml_parsing.h"
 #include "behaviortree_cpp/json_export.h"
+#include "behaviortree_cpp/loggers/bt_minitrace_logger.h"
 
 /** We are using the same example in Tutorial 5,
  *  But this time we also show how to connect
@@ -120,6 +121,7 @@ int main()
 
   // Logging with lightweight serialization
   BT::FileLogger2 logger2(tree, "t12_logger2.btlog");
+  BT::MinitraceLogger minilog(tree, "minitrace.json");
 
   while(1)
   {

diff --git a/include/behaviortree_cpp/loggers/bt_minitrace_logger.h b/include/behaviortree_cpp/loggers/bt_minitrace_logger.h
@@ -1,7 +1,5 @@
-#ifndef BT_MINITRACE_LOGGER_H
-#define BT_MINITRACE_LOGGER_H
+#pragma once
 
-#include <cstring>
 #include "behaviortree_cpp/loggers/abstract_logger.h"
 
 namespace BT
@@ -23,5 +21,3 @@ class MinitraceLogger : public StatusChangeLogger
 };
 
 }  // namespace BT
-
-#endif  // BT_MINITRACE_LOGGER_H
diff --git a/src/loggers/bt_minitrace_logger.cpp b/src/loggers/bt_minitrace_logger.cpp
@@ -60,6 +60,7 @@ void MinitraceLogger::callback(Duration /*timestamp*/, const TreeNode& node,
   {
     MTR_END(category, name);
   }
+  mtr_flush();
 }
 
 void MinitraceLogger::flush()