changes ported from 4.1

Author: facontidavide

include/behaviortree_cpp/tree_node.h

@@ -62,26 +62,35 @@ enum class PostCond
   COUNT_
 };
 
+template <>
+std::string toStr<BT::PostCond>(BT::PostCond status);
+
+template <>
+std::string toStr<BT::PreCond>(BT::PreCond status);
+
 using ScriptingEnumsRegistry = std::unordered_map<std::string, int>;
 
 struct NodeConfig
 {
   NodeConfig()
   {}
 
+  // Pointer to the blackboard used by this node
   Blackboard::Ptr blackboard;
+  // List of enums available for scripting
   std::shared_ptr<ScriptingEnumsRegistry> enums;
+  // input ports
   PortsRemapping input_ports;
+  // output ports
   PortsRemapping output_ports;
 
   std::map<PreCond, std::string> pre_conditions;
   std::map<PostCond, std::string> post_conditions;
 };
 
-#ifdef USE_BTCPP3_OLD_NAMES
 // back compatibility
 using NodeConfiguration = NodeConfig;
-#endif
+
 
 template <typename T>
 inline constexpr bool hasNodeNameCtor()
@@ -360,7 +369,7 @@ inline Result TreeNode::getInput(const std::string& key, T& destination) const
       return nonstd::make_unexpected("getInput(): trying to access an invalid Blackboard");
     }
 
-    std::unique_lock<std::mutex> entry_lock(config_.blackboard->entryMutex());
+    std::unique_lock entry_lock(config_.blackboard->entryMutex());
     const Any* val = config_.blackboard->getAny(static_cast<std::string>(remapped_key));
     if (val && !val->empty())
     {

src/tree_node.cpp

@@ -170,8 +170,19 @@ void TreeNode::checkPostConditions(NodeStatus status)
 
 void TreeNode::resetStatus()
 {
-  std::unique_lock<std::mutex> lock(state_mutex_);
-  status_ = NodeStatus::IDLE;
+  NodeStatus prev_status;
+  {
+    std::unique_lock<std::mutex> lock(state_mutex_);
+    prev_status = status_;
+    status_ = NodeStatus::IDLE;
+  }
+
+  if (prev_status != NodeStatus::IDLE)
+  {
+    state_condition_variable_.notify_all();
+    state_change_signal_.notify(std::chrono::high_resolution_clock::now(), *this,
+                                prev_status, NodeStatus::IDLE);
+  }
 }
 
 NodeStatus TreeNode::status() const
@@ -323,4 +334,40 @@ void TreeNode::modifyPortsRemapping(const PortsRemapping& new_remapping)
   }
 }
 
+template <>
+std::string toStr<PreCond>(PreCond pre)
+{
+  switch (pre)
+  {
+    case PreCond::SUCCESS_IF:
+      return "_successIf";
+    case PreCond::FAILURE_IF:
+      return "_failureIf";
+    case PreCond::SKIP_IF:
+      return "_skipIf";
+    case PreCond::WHILE_TRUE:
+      return "_while";
+    default:
+      return "Undefined";
+  }
+}
+
+template <>
+std::string toStr<PostCond>(PostCond pre)
+{
+  switch (pre)
+  {
+    case PostCond::ON_SUCCESS:
+      return "_onSuccess";
+    case PostCond::ON_FAILURE:
+      return "_onFailure";
+    case PostCond::ALWAYS:
+      return "_post";
+    case PostCond::ON_HALTED:
+      return "_onHalted";
+    default:
+      return "Undefined";
+  }
+}
+
 }   // namespace BT