fix issue 489

ct2034 · Jan 2, 2023 · 5e16d72 · 5e16d72
1 parent e147009
commit 5e16d72
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Showing 3 changed files with 65 additions and 14 deletions.
diff --git a/include/behaviortree_cpp/basic_types.h b/include/behaviortree_cpp/basic_types.h
@@ -72,15 +72,7 @@ using StringView = std::string_view;
 template <typename T>
 inline T convertFromString(StringView /*str*/)
 {
-  auto type_name = BT::demangle(typeid(T));
-
-  std::cerr << "You (maybe indirectly) called BT::convertFromString() for type ["
-            << type_name << "], but I can't find the template specialization.\n"
-            << std::endl;
-
-  throw LogicError(std::string("You didn't implement the template specialization of "
-                               "convertFromString for this type: ") +
-                   type_name);
+  static_assert(true, "This template specialization of convertFromString doesn't exist");
 }
 
 template <>
@@ -269,7 +261,7 @@ class PortInfo
 
   bool isStronglyTyped() const
   {
-    return _type_info == typeid(AnyTypeAllowed);
+    return _type_info != typeid(AnyTypeAllowed);
   }
 
   const StringConverter& converter() const

diff --git a/src/xml_parsing.cpp b/src/xml_parsing.cpp
@@ -578,10 +578,15 @@ TreeNode::Ptr XMLParser::Pimpl::createNodeFromXML(const XMLElement* element,
         // if the entry already exists, check that the type is the same
         if (auto prev_info = blackboard->portInfo(port_key))
         {
-          // found. check consistency
-          // null type means that everything is valid
-          if (!prev_info->isStronglyTyped() && !port_info.isStronglyTyped() &&
-              prev_info->type() != port_info.type())
+          // Check consistency of types.
+          bool const port_type_mismatch = (prev_info->isStronglyTyped() &&
+                                           port_info.isStronglyTyped() &&
+                                           prev_info->type() != port_info.type());
+
+          // special case related to convertFromString
+          bool const string_input = (prev_info->type() == typeid(std::string));
+
+          if(port_type_mismatch && !string_input)
           {
             blackboard->debugMessage();
 

diff --git a/tests/gtest_ports.cpp b/tests/gtest_ports.cpp
@@ -176,3 +176,57 @@ TEST(PortTest, IllegalPorts)
   BehaviorTreeFactory factory;
   ASSERT_ANY_THROW(factory.registerNodeType<IllegalPorts>("nope"));
 }
+
+
+class ActionVectorIn : public SyncActionNode
+{
+public:
+  ActionVectorIn(const std::string& name, const NodeConfig& config,
+                 std::vector<double>* states) :
+    SyncActionNode(name, config),
+    states_(states)
+  {}
+
+  NodeStatus tick() override
+  {
+    getInput("states", *states_);
+    return NodeStatus::SUCCESS;
+  }
+
+  static PortsList providedPorts()
+  {
+    return {BT::InputPort<std::vector<double>>("states")};
+  }
+  std::vector<double>* states_;
+};
+
+
+TEST(PortTest, SubtreeStringInput_Issue489)
+{
+  std::string xml_txt = R"(
+    <root BTCPP_format="4" >
+      <BehaviorTree ID="Main">
+        <SubTree ID="Subtree_A" states="3;7"/>
+      </BehaviorTree>
+
+      <BehaviorTree ID="Subtree_A">
+        <ActionVectorIn states="{states}"/>
+      </BehaviorTree>
+    </root>)";
+
+  std::vector<double> states;
+
+  BehaviorTreeFactory factory;
+  factory.registerNodeType<ActionVectorIn>("ActionVectorIn", &states);
+
+  factory.registerBehaviorTreeFromText(xml_txt);
+  auto tree = factory.createTree("Main");
+
+  NodeStatus status = tree.tickWhileRunning();
+
+  ASSERT_EQ(status, NodeStatus::SUCCESS);
+  ASSERT_EQ(2, states.size());
+  ASSERT_EQ(3, states[0]);
+  ASSERT_EQ(7, states[1]);
+}
+