fix issue related to template specialization

facontidavide · facontidavide · commit 29bac92d3dbe · 2018-12-11T16:44:59.000+01:00
diff --git a/include/behaviortree_cpp/blackboard/blackboard.h b/include/behaviortree_cpp/blackboard/blackboard.h
@@ -56,7 +56,7 @@ class Blackboard
     /** Return true if the entry with the given key was found.
      *  Note that this method may throw an exception if the cast to T failed.
      *
-     * return true is succesful
+     * return true if succesful
      */
     template <typename T>
     bool get(const std::string& key, T& value) const
@@ -75,20 +75,13 @@ class Blackboard
         return true;
     }
 
-    template <typename T>
-    bool get(const std::string& key, const SafeAny::Any* value) const
+    const SafeAny::Any* getAny(const std::string& key) const
     {
         if (!impl_)
         {
-            return false;
-        }
-        const SafeAny::Any* val = impl_->get(key);
-        if (!val)
-        {
-            return false;
+            return nullptr;
         }
-        value = val;
-        return true;
+        return impl_->get(key);
     }
 
 
diff --git a/include/behaviortree_cpp/tree_node.h b/include/behaviortree_cpp/tree_node.h
@@ -138,7 +138,7 @@ class TreeNode
             bool bb_pattern = isBlackboardPattern(str);
             if( bb_pattern && just_constructed_)
             {
-                 std::cerr << "you are calling getParam inside a constructor, but this is not allowed "
+                 std::cerr << "You are calling getParam inside a constructor, but this is not allowed "
                               "when the parameter contains a blackboard.\n"
                               "You should call getParam inside your tick() method"<< std::endl;
                  std::logic_error("Calling getParam inside a constructor");
@@ -147,9 +147,9 @@ class TreeNode
             if ( bb_ && bb_pattern)
             {
                 const std::string stripped_key(&str[2], str.size() - 3);
-                const SafeAny::Any* val;
-                bool found = bb_->get(stripped_key, val);
-                if( found )
+                const SafeAny::Any* val = bb_->getAny(stripped_key);
+
+                if( val )
                 {
                     if( std::is_same<T,std::string>::value == false &&
                         (val->type() == typeid (std::string) ||
@@ -161,7 +161,7 @@ class TreeNode
                         destination = val->cast<T>();
                     }
                 }
-                return found;
+                return val != nullptr;
             }
             else{
                 destination = convertFromString<T>(str.c_str());

Original file line number	Diff line number	Diff line change
`@@ -56,7 +56,7 @@ class Blackboard`
`56`	`56`	`/** Return true if the entry with the given key was found.`
`57`	`57`	`* Note that this method may throw an exception if the cast to T failed.`
`58`	`58`	`*`
`59`		`- * return true is succesful`
	`59`	`+ * return true if succesful`
`60`	`60`	`*/`
`61`	`61`	`template <typename T>`
`62`	`62`	`bool get(const std::string& key, T& value) const`
`@@ -75,20 +75,13 @@ class Blackboard`
`75`	`75`	`return true;`
`76`	`76`	`}`
`77`	`77`
`78`		`- template <typename T>`
`79`		`- bool get(const std::string& key, const SafeAny::Any* value) const`
	`78`	`+ const SafeAny::Any* getAny(const std::string& key) const`
`80`	`79`	`{`
`81`	`80`	`if (!impl_)`
`82`	`81`	`{`
`83`		`- return false;`
`84`		`- }`
`85`		`- const SafeAny::Any* val = impl_->get(key);`
`86`		`- if (!val)`
`87`		`- {`
`88`		`- return false;`
	`82`	`+ return nullptr;`
`89`	`83`	`}`
`90`		`- value = val;`
`91`		`- return true;`
	`84`	`+ return impl_->get(key);`
`92`	`85`	`}`
`93`	`86`
`94`	`87`
Original file line number	Diff line number	Diff line change
`@@ -138,7 +138,7 @@ class TreeNode`
`138`	`138`	`bool bb_pattern = isBlackboardPattern(str);`
`139`	`139`	`if( bb_pattern && just_constructed_)`
`140`	`140`	`{`
`141`		`- std::cerr << "you are calling getParam inside a constructor, but this is not allowed "`
	`141`	`+ std::cerr << "You are calling getParam inside a constructor, but this is not allowed "`
`142`	`142`	`"when the parameter contains a blackboard.\n"`
`143`	`143`	`"You should call getParam inside your tick() method"<< std::endl;`
`144`	`144`	`std::logic_error("Calling getParam inside a constructor");`
`@@ -147,9 +147,9 @@ class TreeNode`
`147`	`147`	`if ( bb_ && bb_pattern)`
`148`	`148`	`{`
`149`	`149`	`const std::string stripped_key(&str[2], str.size() - 3);`
`150`		`- const SafeAny::Any* val;`
`151`		`- bool found = bb_->get(stripped_key, val);`
`152`		`- if( found )`
	`150`	`+ const SafeAny::Any* val = bb_->getAny(stripped_key);`
	`151`	`+`
	`152`	`+ if( val )`
`153`	`153`	`{`
`154`	`154`	`if( std::is_same<T,std::string>::value == false &&`
`155`	`155`	`(val->type() == typeid (std::string) \|\|`
`@@ -161,7 +161,7 @@ class TreeNode`
`161`	`161`	`destination = val->cast<T>();`
`162`	`162`	`}`
`163`	`163`	`}`
`164`		`- return found;`
	`164`	`+ return val != nullptr;`
`165`	`165`	`}`
`166`	`166`	`else{`
`167`	`167`	`destination = convertFromString<T>(str.c_str());`