fix issue BehaviorTree#702 : output ports require {}

km-robotics · Dec 5, 2023 · ab66356 · ab66356
1 parent f7ec907
commit ab66356
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Showing 4 changed files with 28 additions and 5 deletions.
diff --git a/include/behaviortree_cpp/actions/set_blackboard_node.h b/include/behaviortree_cpp/actions/set_blackboard_node.h
@@ -55,7 +55,9 @@ class SetBlackboard : public SyncActionNode
     {
       throw RuntimeError("missing port [value]");
     }
-    setOutput("output_key", value);
+
+    config().blackboard->set(static_cast<std::string>(key), value);
+
     return NodeStatus::SUCCESS;
   }
 };

diff --git a/include/behaviortree_cpp/tree_node.h b/include/behaviortree_cpp/tree_node.h
@@ -489,12 +489,16 @@ inline Result TreeNode::setOutput(const std::string& key, const T& value)
   StringView remapped_key = remap_it->second;
   if (remapped_key == "=")
   {
-    remapped_key = key;
+    config().blackboard->set(static_cast<std::string>(key), value);
+    return {};
   }
-  if (isBlackboardPointer(remapped_key))
+
+  if (!isBlackboardPointer(remapped_key))
   {
-    remapped_key = stripBlackboardPointer(remapped_key);
+    return nonstd::make_unexpected("setOutput requires a blackboard pointer. Use {}");
   }
+
+  remapped_key = stripBlackboardPointer(remapped_key);
   config().blackboard->set(static_cast<std::string>(remapped_key), value);
 
   return {};

diff --git a/src/blackboard.cpp b/src/blackboard.cpp
@@ -21,7 +21,7 @@ AnyPtrLocked Blackboard::getAnyLocked(const std::string &key) const
 {
   if(auto entry = getEntry(key))
   {
-    return AnyPtrLocked(&entry->value,  const_cast<std::mutex*>(&entry->entry_mutex));
+    return AnyPtrLocked(&entry->value, const_cast<std::mutex*>(&entry->entry_mutex));
   }
   return {};
 }

diff --git a/tests/gtest_blackboard.cpp b/tests/gtest_blackboard.cpp
@@ -459,5 +459,22 @@ TEST(BlackboardTest, IssueSetBlackboard)
   ASSERT_EQ(42, tree.rootBlackboard()->get<int>("value"));
 }
 
+TEST(BlackboardTest, NullOutputRemapping)
+{
+  auto bb = Blackboard::create();
+
+  NodeConfig config;
+
+  config.blackboard = bb;
+  config.input_ports["in_port"] = "{my_input_port}";
+  config.output_ports["out_port"] = "";
+  bb->set("my_input_port", 11);
+
+  BB_TestNode node("good_one", config);
+
+  // This will throw because setOutput should fail in BB_TestNode::tick()
+  ASSERT_ANY_THROW(node.executeTick());
+}
+