Fix #570: string_view set in blackboard

Author: facontidavide

include/behaviortree_cpp/blackboard.h

@@ -173,17 +173,10 @@ class Blackboard
     auto it = storage_.find(key);
     if (it == storage_.end())
     {
-      // Not defined before. Let's create an entry with a generic PortInfo
-      if (std::is_constructible<StringView, T>::value)
-      {
-        PortInfo new_port(PortDirection::INOUT, typeid(std::string), {});
-        storage_.emplace(key, std::make_unique<Entry>(Any(value), new_port));
-      }
-      else
-      {
-        PortInfo new_port(PortDirection::INOUT, typeid(T), {});
-        storage_.emplace(key, std::make_unique<Entry>(Any(value), new_port));
-      }
+      // create a new entry
+      Any new_value(value);
+      PortInfo new_port(PortDirection::INOUT, new_value.type(), {});
+      storage_.emplace(key, std::make_unique<Entry>(std::move(new_value), new_port));
     }
     else
     {
@@ -229,8 +222,7 @@ class Blackboard
           debugMessage();
 
           throw LogicError("Blackboard::set() failed: once declared, the type of a port "
-                           "shall not change. "
-                           "Declared type [",
+                           "shall not change. Declared type [",
                            BT::demangle(previous_type), "] != current type [",
                            BT::demangle(typeid(T)), "]");
         }

include/behaviortree_cpp/utils/safe_any.hpp

@@ -94,6 +94,10 @@ class Any
     {
     }
 
+    explicit Any(const std::string_view& str) : _any(SafeAny::SimpleString(str)), _original_type( typeid(std::string) )
+    {
+    }
+
     // all the other integrals are casted to int64_t
     template <typename T>
     explicit Any(const T& value, EnableIntegral<T> = 0) : _any(int64_t(value)), _original_type( typeid(T) )

include/behaviortree_cpp/utils/simple_string.hpp

@@ -5,6 +5,7 @@
 #include <stdexcept>
 #include <limits>
 #include <cstdint>
+#include <string_view>
 
 namespace SafeAny{
 
@@ -19,6 +20,9 @@ class SimpleString {
   SimpleString(const std::string &str): SimpleString(str.data(), str.size())
   {}
 
+  SimpleString(const std::string_view &str): SimpleString(str.data(), str.size())
+  {}
+
   SimpleString(const SimpleString& other): SimpleString(other.data(), other.size())
   {}
 

tests/gtest_blackboard.cpp

@@ -350,3 +350,13 @@ TEST(BlackboardTest, AnyPtrLocked)
     ASSERT_NE(cycles, value);
   }
 }
+
+TEST(BlackboardTest, SetStringView)
+{
+  auto bb = Blackboard::create();
+
+  constexpr BT::StringView string_view_const = "BehaviorTreeCpp";
+  bb->set("string_view", string_view_const);
+
+  ASSERT_NO_THROW(bb->set("string_view", string_view_const));
+}