Pretty demangled names and obsolate comments removed

facontidavide · facontidavide · commit a6e453422eac · 2018-12-11T16:45:20.000+01:00
diff --git a/include/behaviortree_cpp/basic_types.h b/include/behaviortree_cpp/basic_types.h
@@ -6,12 +6,13 @@
 #include <stdexcept>
 #include <vector>
 #include <sstream>
+#include <exception>
 #include "behaviortree_cpp/string_view.hpp"
+#include "behaviortree_cpp/blackboard/demangle_util.h"
 
 namespace BT
 {
-// Enumerates the possible types of a node, for drawinf we
-// have do discriminate whoich control node it is:
+// Enumerates the possible types of nodes
 enum class NodeType
 {
     UNDEFINED = 0,
@@ -23,14 +24,7 @@ enum class NodeType
 };
 
 // Enumerates the states every node can be in after execution during a particular
-// time step:
-// - "Success" indicates that the node has completed running during this time step;
-// - "Failure" indicates that the node has determined it will not be able to complete
-//   its task;
-// - "Running" indicates that the node has successfully moved forward during this
-//   time step, but the task is not yet complete;
-// - "Idle" indicates that the node hasn't run yet.
-// - "Halted" indicates that the node has been halted by its father.
+// time step.
 enum class NodeStatus
 {
     IDLE = 0,
@@ -63,8 +57,20 @@ enum SuccessPolicy
 
 typedef nonstd::string_view StringView;
 
-template <typename T>
-T convertFromString(const StringView& str);
+/// TreeNode::getParam requires convertFromString to be implemented for your specific type,
+/// unless you are try to read it from a blackboard.
+///
+template <typename T> inline
+T convertFromString(const StringView& /*str*/)
+{
+    auto type_name = BT::demangle( typeid(T).name() );
+
+    std::cerr << "You (maybe indirectly) called BT::convertFromString() for type [" <<
+                 type_name <<"], but I can't find the template specialization.\n" << std::endl;
+
+    throw std::logic_error(std::string("You didn't implement the template specialization of "
+                                       "convertFromString for this type: ") + type_name );
+}
 
 //------------------------------------------------------------------
 
diff --git a/include/behaviortree_cpp/blackboard/demangle_util.h b/include/behaviortree_cpp/blackboard/demangle_util.h
@@ -0,0 +1,103 @@
+#ifndef DEMANGLE_UTIL_H
+#define DEMANGLE_UTIL_H
+
+#include <string>
+
+
+#if defined( __clang__ ) && defined( __has_include )
+# if __has_include(<cxxabi.h>)
+#  define HAS_CXXABI_H
+# endif
+#elif defined( __GLIBCXX__ ) || defined( __GLIBCPP__ )
+# define HAS_CXXABI_H
+#endif
+
+#if defined( HAS_CXXABI_H )
+# include <cxxabi.h>
+# include <cstdlib>
+# include <cstddef>
+#endif
+
+namespace BT
+{
+
+inline char const * demangle_alloc( char const * name ) noexcept;
+inline void demangle_free( char const * name ) noexcept;
+
+class scoped_demangled_name
+{
+private:
+    char const * m_p;
+
+public:
+    explicit scoped_demangled_name( char const * name ) noexcept :
+        m_p( demangle_alloc( name ) )
+    {
+    }
+
+    ~scoped_demangled_name() noexcept
+    {
+        demangle_free( m_p );
+    }
+
+    char const * get() const noexcept
+    {
+        return m_p;
+    }
+
+    scoped_demangled_name( scoped_demangled_name const& ) = delete;
+    scoped_demangled_name& operator= ( scoped_demangled_name const& ) = delete;
+};
+
+
+#if defined( HAS_CXXABI_H )
+
+inline char const * demangle_alloc( char const * name ) noexcept
+{
+    int status = 0;
+    std::size_t size = 0;
+    return abi::__cxa_demangle( name, NULL, &size, &status );
+}
+
+inline void demangle_free( char const * name ) noexcept
+{
+    std::free( const_cast< char* >( name ) );
+}
+
+inline std::string demangle( char const * name )
+{
+    scoped_demangled_name demangled_name( name );
+    char const * const p = demangled_name.get();
+    if( p )
+    {
+        return p;
+    }
+    else
+    {
+        return name;
+    }
+}
+
+#else
+
+inline char const * demangle_alloc( char const * name ) noexcept
+{
+    return name;
+}
+
+inline void demangle_free( char const * ) noexcept
+{
+}
+
+inline std::string demangle( char const * name )
+{
+    return name;
+}
+
+#endif
+
+} // namespace BT
+
+#undef HAS_CXXABI_H
+
+#endif // DEMANGLE_UTIL_H
diff --git a/include/behaviortree_cpp/blackboard/safe_any.hpp b/include/behaviortree_cpp/blackboard/safe_any.hpp
@@ -9,6 +9,7 @@
 #include <cstring>
 #include <type_traits>
 #include "any.hpp"
+#include "demangle_util.h"
 #include "convert_impl.hpp"
 
 namespace SafeAny
@@ -183,7 +184,8 @@ class Any
     {
         char buffer[1024];
         sprintf(buffer, "[Any::convert]: no known safe conversion between %s and %s",
-                _any.type().name(), typeid(T).name());
+                BT::demangle( _any.type().name() ),
+                BT::demangle( typeid(T).name() ) );
         return std::runtime_error(buffer);
     }
 };
