From 55a7b70b7ab6c1f2be811009e67f6e6630839947 Mon Sep 17 00:00:00 2001
From: Davide Faconti <davide.faconti@gmail.com>
Date: Tue, 19 Mar 2024 21:55:22 +0100
Subject: [PATCH] fix unit test

---
 CMakeLists.txt                        |  3 ++-
 include/behaviortree_cpp/blackboard.h |  1 -
 src/blackboard.cpp                    | 20 ++++++++++----------
 tests/gtest_blackboard.cpp            |  4 ----
 4 files changed, 12 insertions(+), 16 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 57a11ba1a..bafe2a957 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -19,9 +19,10 @@ endif()
 if(MSVC)
     add_definitions(-D_CRT_SECURE_NO_WARNINGS -DWIN32_LEAN_AND_MEAN)
 else()
-    add_definitions(-Wpedantic)
+    add_definitions(-Wpedantic -fno-omit-frame-pointer)
 endif()
 
+
 #---- project configuration ----
 option(BTCPP_SHARED_LIBS "Build shared libraries" ON)
 option(BTCPP_BUILD_TOOLS "Build commandline tools" ON)
diff --git a/include/behaviortree_cpp/blackboard.h b/include/behaviortree_cpp/blackboard.h
index 65ee6d90c..3bec9c96b 100644
--- a/include/behaviortree_cpp/blackboard.h
+++ b/include/behaviortree_cpp/blackboard.h
@@ -201,7 +201,6 @@ inline void Blackboard::set(const std::string& key, const T& value)
     }
     lock.lock();
 
-    storage_.insert({ key, entry });
     entry->value = new_value;
   }
   else
diff --git a/src/blackboard.cpp b/src/blackboard.cpp
index 1ba0c6926..eecc409d6 100644
--- a/src/blackboard.cpp
+++ b/src/blackboard.cpp
@@ -210,8 +210,6 @@ std::shared_ptr<Blackboard::Entry> Blackboard::createEntryImpl(const std::string
     return storage_it->second;
   }
 
-  std::shared_ptr<Entry> entry;
-
   // manual remapping first
   auto remapping_it = internal_to_external_.find(key);
   if(remapping_it != internal_to_external_.end())
@@ -219,22 +217,24 @@ std::shared_ptr<Blackboard::Entry> Blackboard::createEntryImpl(const std::string
     const auto& remapped_key = remapping_it->second;
     if(auto parent = parent_bb_.lock())
     {
-      entry = parent->createEntryImpl(remapped_key, info);
+      return parent->createEntryImpl(remapped_key, info);
     }
+    throw RuntimeError("Missing parent blackboard");
   }
-  else if(autoremapping_ && !IsPrivateKey(key))
+  // autoremapping second (excluding private keys)
+  if(autoremapping_ && !IsPrivateKey(key))
   {
     if(auto parent = parent_bb_.lock())
     {
       return parent->createEntryImpl(key, info);
     }
+    throw RuntimeError("Missing parent blackboard");
   }
-  else  // not remapped, not found. Create locally.
-  {
-    entry = std::make_shared<Entry>(info);
-    // even if empty, let's assign to it a default type
-    entry->value = Any(info.type());
-  }
+  // not remapped, not found. Create locally.
+
+  auto entry = std::make_shared<Entry>(info);
+  // even if empty, let's assign to it a default type
+  entry->value = Any(info.type());
   storage_.insert({ key, entry });
   return entry;
 }
diff --git a/tests/gtest_blackboard.cpp b/tests/gtest_blackboard.cpp
index 1a2086b5a..980db1e90 100644
--- a/tests/gtest_blackboard.cpp
+++ b/tests/gtest_blackboard.cpp
@@ -11,12 +11,8 @@
 */
 
 #include <gtest/gtest.h>
-#include "action_test_node.h"
-#include "condition_test_node.h"
-#include "behaviortree_cpp/behavior_tree.h"
 #include "behaviortree_cpp/bt_factory.h"
 #include "behaviortree_cpp/blackboard.h"
-#include "behaviortree_cpp/xml_parsing.h"
 
 #include "../sample_nodes/dummy_nodes.h"