preserve order of ports in PortsList. Solves issue #851

include/behaviortree_cpp/basic_types.h

@@ -582,7 +582,19 @@ template <typename T = AnyTypeAllowed>
 
 //----------
 
-using PortsList = std::unordered_map<std::string, PortInfo>;
+using PortsList = std::vector<std::pair<std::string, PortInfo>>;
+
+inline const PortInfo* findPortInfo(const PortsList& ports, const std::string& key)
+{
+ for(auto& it : ports)
+ {
+ if(it.first == key)
+ {
+ return &it.second;
+ }
+ }
+ return nullptr;
+}
 
 template <typename T, typename = void>
 struct has_static_method_providedPorts : std::false_type

include/behaviortree_cpp/controls/switch_node.h

@@ -91,11 +91,11 @@ inline PortsList SwitchNode<NUM_CASES>::providedPorts()
 {
  static PortsList provided_ports = []() {
  PortsList ports;
- ports.insert(BT::InputPort<std::string>("variable"));
+ ports.push_back(BT::InputPort<std::string>("variable"));
  for(unsigned i = 1; i <= NUM_CASES; i++)
  {
  auto key = std::string("case_") + std::to_string(i);
- ports.insert(BT::InputPort<std::string>(key));
+ ports.push_back(BT::InputPort<std::string>(key));
  }
  return ports;
  }();

include/behaviortree_cpp/tree_node.h

@@ -455,30 +455,29 @@ inline Expected<Timestamp> TreeNode::getInputStamped(const std::string& key,
  else
  {
  // maybe it is declared with a default value in the manifest
- auto port_manifest_it = config().manifest->ports.find(key);
- if(port_manifest_it == config().manifest->ports.end())
+ const auto* port_info = findPortInfo(config().manifest->ports, key);
+ if(!port_info)
  {
  return nonstd::make_unexpected(StrCat("getInput() of node '", fullPath(),
  "' failed because the manifest doesn't "
  "contain the key: [",
  key, "]"));
  }
- const auto& port_info = port_manifest_it->second;
  // there is a default value
- if(port_info.defaultValue().empty())
+ if(port_info->defaultValue().empty())
  {
  return nonstd::make_unexpected(StrCat("getInput() of node '", fullPath(),
  "' failed because nor the manifest or the "
  "XML contain the key: [",
  key, "]"));
  }
- if(port_info.defaultValue().isString())
+ if(port_info->defaultValue().isString())
  {
- port_value_str = port_info.defaultValue().cast<std::string>();
+ port_value_str = port_info->defaultValue().cast<std::string>();
  }
  else
  {
- destination = port_info.defaultValue().cast<T>();
+ destination = port_info->defaultValue().cast<T>();
  return Timestamp{};
  }
  }
@@ -585,7 +584,8 @@ inline Result TreeNode::setOutput(const std::string& key, const T& value)
 
  if constexpr(std::is_same_v<BT::Any, T>)
  {
- if(config().manifest->ports.at(key).type() != typeid(BT::Any))
+ const auto* port_info = findPortInfo(config().manifest->ports, key);
+ if(port_info && port_info->type() != typeid(BT::Any))
  {
  throw LogicError("setOutput<Any> is not allowed, unless the port "
  "was declared using OutputPort<Any>");

src/xml_parsing.cpp

@@ -663,31 +663,30 @@ TreeNode::Ptr XMLParser::PImpl::createNodeFromXML(const XMLElement* element,
 
  if(manifest)
  {
- auto port_model_it = manifest->ports.find(port_name);
- if(port_model_it == manifest->ports.end())
+ const auto* port_model = findPortInfo(manifest->ports, port_name);
+ if(!port_model)
  {
  throw RuntimeError(StrCat("a port with name [", port_name,
  "] is found in the XML, but not in the "
  "providedPorts()"));
  }
  else
  {
- const auto& port_model = port_model_it->second;
  bool is_blacbkboard = port_value.size() >= 3 && port_value.front() == '{' &&
  port_value.back() == '}';
  // let's test already if conversion is possible
- if(!is_blacbkboard && port_model.converter() && port_model.isStronglyTyped())
+ if(!is_blacbkboard && port_model->converter() && port_model->isStronglyTyped())
  {
  // This may throw
  try
  {
- port_model.converter()(port_value);
+ port_model->converter()(port_value);
  }
  catch(std::exception& ex)
  {
  auto msg = StrCat("The port with name \"", port_name, "\" and value \"",
  port_value, "\" can not be converted to ",
- port_model.typeName());
+ port_model->typeName());
  throw LogicError(msg);
  }
  }
@@ -750,7 +749,7 @@ TreeNode::Ptr XMLParser::PImpl::createNodeFromXML(const XMLElement* element,
  //Check that name in remapping can be found in the manifest
  for(const auto& [name_in_subtree, _] : port_remap)
  {
- if(manifest->ports.count(name_in_subtree) == 0)
+ if(!findPortInfo(manifest->ports, name_in_subtree))
  {
  throw RuntimeError("Possible typo? In the XML, you tried to remap port \"",
  name_in_subtree, "\" in node [", config.path, "(type ",
@@ -809,10 +808,10 @@ TreeNode::Ptr XMLParser::PImpl::createNodeFromXML(const XMLElement* element,
  for(const auto& remap_it : port_remap)
  {
  const auto& port_name = remap_it.first;
- auto port_it = manifest->ports.find(port_name);
- if(port_it != manifest->ports.end())
+ const auto* port_info = findPortInfo(manifest->ports, port_name);
+ if(port_info != nullptr)
  {
- auto direction = port_it->second.direction();
+ auto direction = port_info->direction();
  if(direction != PortDirection::OUTPUT)
  {
  config.input_ports.insert(remap_it);