blackboard: update getKeys and add mutex to scripting

Author: facontidavide

include/behaviortree_cpp/blackboard.h

@@ -1,5 +1,4 @@
-#ifndef BLACKBOARD_H
-#define BLACKBOARD_H
+#pragma once
 
 #include <iostream>
 #include <string>
@@ -113,8 +112,8 @@ class Blackboard
   template <typename T>
   void set(const std::string& key, const T& value)
   {
-    std::unique_lock<std::mutex> lock_entry(entry_mutex_);
-    std::unique_lock<std::mutex> lock(mutex_);
+    std::unique_lock lock_entry(entry_mutex_);
+    std::unique_lock lock(mutex_);
 
     // search first if this port was remapped.
     // Change the parent_bb_ in that case
@@ -205,7 +204,7 @@ class Blackboard
 
   void debugMessage() const;
 
-  std::vector<StringView> getKeys() const;
+  std::vector<StringView> getKeys(bool include_remapped = true) const;
 
   void clear()
   {
@@ -216,7 +215,7 @@ class Blackboard
 
   // Lock this mutex before using get() and getAny() and unlock it while you have
   // done using the value.
-  std::mutex& entryMutex()
+  std::recursive_mutex& entryMutex() const
   {
     return entry_mutex_;
   }
@@ -236,12 +235,11 @@ class Blackboard
   };
 
   mutable std::mutex mutex_;
-  mutable std::mutex entry_mutex_;
+  mutable std::recursive_mutex entry_mutex_;
   std::unordered_map<std::string, Entry> storage_;
   std::weak_ptr<Blackboard> parent_bb_;
   std::unordered_map<std::string, std::string> internal_to_external_;
 };
 
 }   // namespace BT
 
-#endif   // BLACKBOARD_H

include/behaviortree_cpp/scripting/operators.hpp

@@ -68,6 +68,7 @@ struct ExprName : ExprBase
             }
         }
         // search now in the variables table
+        std::unique_lock entry_lock(env.vars->entryMutex());
         auto any_ptr = env.vars->getAny(name);
         if( !any_ptr )
         {
@@ -358,6 +359,8 @@ struct ExprAssignment : ExprBase
             throw std::runtime_error("Assignment left operand not an lvalue");
         }
         const auto& key = varname->name;
+
+        std::unique_lock entry_lock(env.vars->entryMutex());
         auto any_ptr = env.vars->getAny(key);
         if( !any_ptr )
         {

src/blackboard.cpp

@@ -64,15 +64,15 @@ void Blackboard::addSubtreeRemapping(StringView internal, StringView external)
 
 void Blackboard::debugMessage() const
 {
-  for (const auto& entry_it : storage_)
+  for (const auto& [key, entry] : storage_)
   {
-    auto port_type = entry_it.second.port_info.type();
+    auto port_type = entry.port_info.type();
     if (port_type == typeid(void))
     {
-      port_type = entry_it.second.value.type();
+      port_type = entry.value.type();
     }
 
-    std::cout << entry_it.first << " (" << BT::demangle(port_type) << ")" << std::endl;
+    std::cout << key << " (" << BT::demangle(port_type) << ")" << std::endl;
   }
 
   for (const auto& [from, to] : internal_to_external_)
@@ -83,18 +83,26 @@ void Blackboard::debugMessage() const
   }
 }
 
-std::vector<StringView> Blackboard::getKeys() const
+std::vector<StringView> Blackboard::getKeys(bool include_remapped) const
 {
-  if (storage_.empty())
+  const size_t N = storage_.size() + (include_remapped ? internal_to_external_.size() : 0 );
+  if (N == 0)
   {
     return {};
   }
   std::vector<StringView> out;
-  out.reserve(storage_.size());
+  out.reserve(N);
   for (const auto& entry_it : storage_)
   {
     out.push_back(entry_it.first);
   }
+  if(include_remapped)
+  {
+    for (const auto& [key, remapped] : internal_to_external_)
+    {
+      out.push_back(key);
+    }
+  }
   return out;
 }