Merge branch 'set_global'

BehaviorTree · May 20, 2024 · 9b0bc0a · 9b0bc0a
2 parents 6a184bf + 2b79c50
commit 9b0bc0a
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Showing 3 changed files with 30 additions and 9 deletions.
diff --git a/include/behaviortree_cpp/blackboard.h b/include/behaviortree_cpp/blackboard.h
@@ -135,6 +135,11 @@ class Blackboard
 
   Blackboard::Ptr parent();
 
+  // recursively look for parent Blackboard, until you find the root
+  Blackboard* rootBlackboard();
+
+  const Blackboard* rootBlackboard() const;
+
 private:
   mutable std::mutex mutex_;
   mutable std::recursive_mutex entry_mutex_;
@@ -197,6 +202,11 @@ inline void Blackboard::unset(const std::string& key)
 template <typename T>
 inline void Blackboard::set(const std::string& key, const T& value)
 {
+  if(StartWith(key, '@'))
+  {
+    rootBlackboard()->set(key.substr(1, key.size() - 1), value);
+    return;
+  }
   std::unique_lock lock(mutex_);
 
   // check local storage

diff --git a/include/behaviortree_cpp/scripting/operators.hpp b/include/behaviortree_cpp/scripting/operators.hpp
@@ -28,7 +28,7 @@ using SimpleString = SafeAny::SimpleString;
 using expr_ptr = std::shared_ptr<struct ExprBase>;
 
 // extended strin to number that consider enums and booleans
-double StringToDouble(const Any& value, const Environment& env)
+inline double StringToDouble(const Any& value, const Environment& env)
 {
   const auto str = value.cast<std::string>();
   if(str == "true")

diff --git a/src/blackboard.cpp b/src/blackboard.cpp
@@ -49,14 +49,7 @@ Blackboard::getEntry(const std::string& key) const
   // special syntax: "@" will always refer to the root BB
   if(StartWith(key, '@'))
   {
-    if(auto parent = parent_bb_.lock())
-    {
-      return parent->getEntry(key);
-    }
-    else
-    {
-      return getEntry(key.substr(1, key.size() - 1));
-    }
+    return rootBlackboard()->getEntry(key.substr(1, key.size() - 1));
   }
 
   std::unique_lock<std::mutex> lock(mutex_);
@@ -318,4 +311,22 @@ Blackboard::Entry& Blackboard::Entry::operator=(const Entry& other)
   return *this;
 }
 
+Blackboard* BT::Blackboard::rootBlackboard()
+{
+  auto bb = static_cast<const Blackboard&>(*this).rootBlackboard();
+  return const_cast<Blackboard*>(bb);
+}
+
+const Blackboard* BT::Blackboard::rootBlackboard() const
+{
+  const Blackboard* bb = this;
+  Blackboard::Ptr prev = parent_bb_.lock();
+  while(prev)
+  {
+    bb = prev.get();
+    prev = bb->parent_bb_.lock();
+  }
+  return bb;
+}
+
 }  // namespace BT