fixing issue #623: port type check backported from v4

Author: facontidavide

include/behaviortree_cpp_v3/basic_types.h

@@ -253,6 +253,11 @@ class PortInfo
 
   const std::string& defaultValue() const;
 
+  bool isStronglyTyped() const
+  {
+    return _info != nullptr;
+  }
+
 private:
   PortDirection _type;
   const std::type_info* _info;

src/xml_parsing.cpp

@@ -565,23 +565,24 @@ TreeNode::Ptr XMLParser::Pimpl::createNodeFromXML(const XMLElement* element,
         continue;
       }
       StringView param_value = remap_it->second;
-      auto param_res = TreeNode::getRemappedKey(port_name, param_value);
-      if (param_res)
+
+      if (auto param_res = TreeNode::getRemappedKey(port_name, param_value))
       {
+        // port_key will contain the key to find the entry in the blackboard
         const auto port_key = static_cast<std::string>(param_res.value());
 
-        auto prev_info = blackboard->portInfo(port_key);
-        if (!prev_info)
+        // if the entry already exists, check that the type is the same
+        if (auto prev_info = blackboard->portInfo(port_key))
         {
-          // not found, insert for the first time.
-          blackboard->createEntry(port_key, port_info);
-        }
-        else
-        {
-          // found. check consistency
-          if (prev_info->type() &&
-              port_info.type() &&   // null type means that everything is valid
-              *prev_info->type() != *port_info.type())
+          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() &&
+              *prev_info->type() == typeid(std::string));
+
+          if (port_type_mismatch && !string_input)
           {
             blackboard->debugMessage();
 
@@ -591,6 +592,11 @@ TreeNode::Ptr XMLParser::Pimpl::createNodeFromXML(const XMLElement* element,
                                demangle(port_info.type()), "] was used somewhere else.");
           }
         }
+        else
+        {
+          // not found, insert for the first time.
+          blackboard->createEntry(port_key, port_info);
+        }
       }
     }
 

tests/gtest_subtree.cpp

@@ -1,6 +1,7 @@
 #include <gtest/gtest.h>
 #include "behaviortree_cpp_v3/bt_factory.h"
 #include "../sample_nodes/dummy_nodes.h"
+#include "../sample_nodes/movebase_node.h"
 
 using namespace BT;
 
@@ -372,3 +373,30 @@ TEST(SubTree, SubtreeIssue563)
   auto ret = tree.tickRoot();
   ASSERT_EQ(ret, NodeStatus::SUCCESS);
 }
+
+TEST(SubTree, String_to_Pose_Issue623)
+{
+  // clang-format off
+
+  static const char* xml_text = R"(
+<root main_tree_to_execute="Test">
+  <BehaviorTree ID="Test">
+    <ReactiveSequence name="MainSequence">
+      <SubTreePlus name="Visit2" ID="Visit2" tl1="1;2;3"/>
+    </ReactiveSequence>
+  </BehaviorTree>
+  <BehaviorTree ID="Visit2">
+    <Sequence name="Visit2MainSequence">
+      <Action name="MoveBase" ID="MoveBase" goal="{tl1}"/>
+    </Sequence>
+  </BehaviorTree>
+</root>
+ )";
+
+  // clang-format on
+
+  BehaviorTreeFactory factory;
+  factory.registerNodeType<MoveBaseAction>("MoveBase");
+  auto tree = factory.createTreeFromText(xml_text);
+  tree.tickRootWhileRunning();
+}