Fix bug BehaviorTree#149

facontidavide · facontidavide · commit e6bc62e13eea · 2020-03-06T20:57:04.000+01:00
diff --git a/src/loggers/bt_minitrace_logger.cpp b/src/loggers/bt_minitrace_logger.cpp
@@ -27,6 +27,25 @@ MinitraceLogger::~MinitraceLogger()
     ref_count = false;
 }
 
+const char* toConstStr(NodeType type)
+{
+  switch (type)
+  {
+    case NodeType::ACTION:
+      return "Action";
+    case NodeType::CONDITION:
+      return "Condition";
+    case NodeType::DECORATOR:
+      return "Decorator";
+    case NodeType::CONTROL:
+      return "Control";
+    case NodeType::SUBTREE:
+      return "SubTree";
+    default:
+      return "Undefined";
+  }
+}
+
 void MinitraceLogger::callback(Duration /*timestamp*/,
                                const TreeNode& node, NodeStatus prev_status,
                                NodeStatus status)
@@ -35,20 +54,20 @@ void MinitraceLogger::callback(Duration /*timestamp*/,
 
     const bool statusCompleted = (status == NodeStatus::SUCCESS || status == NodeStatus::FAILURE);
 
-    const std::string& category = toStr(node.type());
+    const char* category = toConstStr(node.type());
     const char* name = node.name().c_str();
 
     if (prev_status == NodeStatus::IDLE && statusCompleted)
     {
-        MTR_INSTANT(category.c_str(), name);
+        MTR_INSTANT(category, name);
     }
     else if (status == NodeStatus::RUNNING)
     {
-        MTR_BEGIN(category.c_str(), name);
+        MTR_BEGIN(category, name);
     }
     else if (prev_status == NodeStatus::RUNNING && statusCompleted)
     {
-        MTR_END(category.c_str(), name);
+        MTR_END(category, name);
     }
 }
 
