Check if an entry is a std::vector in a better way

PickNikRobotics · Oct 23, 2024 · 29c90be · 29c90be
1 parent 823f2a2
commit 29c90be
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Showing 3 changed files with 12 additions and 9 deletions.
diff --git a/include/behaviortree_cpp/blackboard.h b/include/behaviortree_cpp/blackboard.h
@@ -25,6 +25,14 @@ struct StampedValue
   Timestamp stamp;
 };
 
+// Helper trait to check if a type is a std::vector
+template <typename T>
+struct is_vector : std::false_type {};
+
+template <typename T, typename A>
+struct is_vector<std::vector<T, A>> : std::true_type {};
+
+
 /**
  * @brief The Blackboard is the mechanism used by BehaviorTrees to exchange
  * typed data.
@@ -258,7 +266,8 @@ inline void Blackboard::set(const std::string& key, const T& value)
     std::type_index previous_type = entry.info.type();
 
     // Allow mismatch if going from vector -> vector<Any>.
-    bool previous_is_vector = std::string(previous_type.name()).find("vector") != std::string::npos;
+    auto prev_type_demangled = demangle(entry.value.type());
+    bool previous_is_vector = prev_type_demangled.substr(0, 11) == "std::vector";
     bool new_is_vector_any = new_value.type() == typeid(std::vector<Any>);
 
     // check type mismatch

diff --git a/include/behaviortree_cpp/tree_node.h b/include/behaviortree_cpp/tree_node.h
@@ -30,13 +30,6 @@
 
 namespace BT
 {
-// Helper trait to check if a type is a std::vector
-template <typename T>
-struct is_vector : std::false_type {};
-
-template <typename T, typename A>
-struct is_vector<std::vector<T, A>> : std::true_type {};
-
 /// This information is used mostly by the XMLParser.
 struct TreeNodeManifest
 {

diff --git a/src/xml_parsing.cpp b/src/xml_parsing.cpp
@@ -789,7 +789,8 @@ TreeNode::Ptr XMLParser::PImpl::createNodeFromXML(const XMLElement* element,
           // special case related to unwrapping vector<Any> -> vector<T> objects.
           bool const vec_any_input = (prev_info->type() == typeid(std::vector<Any>));
           // special case related to wrapping vector<T> -> vector<Any> objects.
-          bool previous_is_vector = std::string(prev_info->type().name()).find("vector") != std::string::npos;
+          auto prev_type_demangled = demangle(prev_info->type());
+          bool previous_is_vector = prev_type_demangled.substr(0, 11) == "std::vector";
           bool new_is_vector_any = port_info.type() == typeid(std::vector<Any>);
 
           if(port_type_mismatch && !string_input &&