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Make Blackboard::getKeys thread safe #24

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Merged
dsobek merged 1 commit into from
May 7, 2026
Merged

Make Blackboard::getKeys thread safe #24

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2 changes: 1 addition & 1 deletion include/behaviortree_cpp/blackboard.h
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Original file line number Diff line number Diff line change
Expand Up @@ -130,7 +130,7 @@ class Blackboard

void debugMessage() const;

[[nodiscard]] std::vector<StringView> getKeys() const;
[[nodiscard]] std::vector<std::string> getKeys() const;

[[deprecated("This command is unsafe. Consider using Backup/Restore instead")]] void
clear();
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10 changes: 5 additions & 5 deletions src/blackboard.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -113,13 +113,14 @@ void Blackboard::debugMessage() const
}
}

std::vector<StringView> Blackboard::getKeys() const
std::vector<std::string> Blackboard::getKeys() const
{
std::unique_lock<std::mutex> lock(mutex_);
if(storage_.empty())
{
return {};
}
std::vector<StringView> out;
std::vector<std::string> out;
out.reserve(storage_.size());
for(const auto& entry_it : storage_)
{
Expand Down Expand Up @@ -272,10 +273,9 @@ std::shared_ptr<Blackboard::Entry> Blackboard::createEntryImpl(const std::string
nlohmann::json ExportBlackboardToJSON(const Blackboard& blackboard)
{
nlohmann::json dest;
for(auto entry_name : blackboard.getKeys())
for(const std::string& name : blackboard.getKeys())
{
std::string name(entry_name);
if(auto any_ref = blackboard.getAnyLocked(name))
if(AnyPtrLocked any_ref = blackboard.getAnyLocked(name))
{
if(auto any_ptr = any_ref.get())
{
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4 changes: 2 additions & 2 deletions tests/gtest_blackboard.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -558,9 +558,9 @@ TEST(BlackboardTest, BlackboardBackup)
for(const auto& sub : tree.subtrees)
{
std::vector<std::string> keys;
for(const auto& str_view : sub->blackboard->getKeys())
for(const std::string& str : sub->blackboard->getKeys())
{
keys.push_back(std::string(str_view));
keys.push_back(str);
}
expected_keys.push_back(keys);
}
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