better error messages

Author: facontidavide

include/behaviortree_cpp/basic_types.h

@@ -138,7 +138,13 @@ using StringConvertersMap = std::unordered_map<const std::type_info*, StringConv
 template <typename T> [[nodiscard]]
 inline StringConverter GetAnyFromStringFunctor()
 {
-  return [](StringView str) { return Any(convertFromString<T>(str)); };
+  if constexpr(std::is_constructible_v<StringView, T>)
+  {
+    return [](StringView str) { return Any(str); };
+  }
+  else {
+    return [](StringView str) { return Any(convertFromString<T>(str)); };
+  }
 }
 
 template <> [[nodiscard]]

include/behaviortree_cpp/blackboard.h

@@ -149,7 +149,8 @@ class Blackboard
     {
       // create a new entry
       Any new_value(value);
-      PortInfo new_port(PortDirection::INOUT, new_value.type(), {});
+      PortInfo new_port(PortDirection::INOUT, new_value.type(),
+                        GetAnyFromStringFunctor<T>());
       lock.unlock();
       auto entry = createEntryImpl(key, new_port);
       lock.lock();
@@ -199,10 +200,10 @@ class Blackboard
         {
           debugMessage();
 
-          throw LogicError("Blackboard::set() failed: once declared, the type of a port "
-                           "shall not change. Declared type [",
-                           BT::demangle(previous_type), "] != current type [",
-                           BT::demangle(typeid(T)), "]");
+          auto msg = StrCat("Blackboard entry [", key, "]: once declared, the type of a port"
+                            " shall not change. Previously declared type [", BT::demangle(previous_type),
+                            "], current type [", BT::demangle(typeid(T)), "]");
+          throw LogicError(msg);
         }
       }
       previous_any = std::move(new_value);

src/blackboard.cpp

@@ -81,10 +81,11 @@ Blackboard::createEntryImpl(const std::string& key, const PortInfo& info)
         old_type != typeid(BT::PortInfo::AnyTypeAllowed) &&
         info.type() != typeid(BT::PortInfo::AnyTypeAllowed))
     {
-      throw LogicError("Blackboard: once declared, the type of a port "
-                       "shall not change. Previously declared type [",
-                       BT::demangle(old_type), "] != new type [",
-                       BT::demangle(info.type()), "]");
+      auto msg = StrCat("Blackboard entry [", key, "]: once declared, the type of a port"
+                        " shall not change. Previously declared type [", BT::demangle(old_type),
+                        "], current type [", BT::demangle(typeid(info.type())), "]");
+
+      throw LogicError(msg);
     }
     return storage_it->second;
   }

tests/gtest_subtree.cpp

@@ -351,7 +351,7 @@ TEST(SubTree, SubtreeIssue563)
 <BehaviorTree ID="Talker">
   <Sequence>
     <SaySomething message="{the_message}" />
-    <SetBlackboard output_key="reply" value="done"/>
+    <Script code=" reply:='done' "/>
   </Sequence>
 </BehaviorTree>