Merge 98b2218062 into 8d47d397e7

Signed-off-by: redvinaa <redvinaa@gmail.com>

README.md

@@ -64,19 +64,19 @@ Compiling with [conan](https://conan.io/):
 Assuming that you are in the **parent** directory of `BehaviorTree.CPP`:
 
 ```
-mkdir build; cd build
-conan install ../BehaviorTree.CPP --output-folder=. --build=missing
-cmake ../BehaviorTree.CPP -DCMAKE_TOOLCHAIN_FILE="conan_toolchain.cmake"
-cmake --build . --parallel
+mkdir build_release
+conan install . -of build_release -s build_type=Release
+cmake -S . -B build_release -DCMAKE_TOOLCHAIN_FILE="build_release/conan_toolchain.cmake"
+cmake --build build_release --parallel
 ```
 
 If you have dependencies such as ZeroMQ and SQlite already installed and you don't want to
 use conan, simply type:
 
 ```
-mkdir build; cd build
-cmake ../BehaviorTree.CPP
-cmake --build . --parallel
+mkdir build_release
+cmake -S . -B build_release
+cmake --build build_release --parallel
 ```
 
 If you want to build in a [pixi](https://pixi.sh/) project (conda virtual environment).

include/behaviortree_cpp/basic_types.h

@@ -183,6 +183,10 @@ template <>
 template <>
 [[nodiscard]] std::vector<double> convertFromString<std::vector<double>>(StringView str);
 
+// Boolean values separated by the character ";"
+template <>
+[[nodiscard]] std::vector<bool> convertFromString<std::vector<bool>>(StringView str);
+
 // Strings separated by the character ";"
 template <>
 [[nodiscard]] std::vector<std::string>

include/behaviortree_cpp/controls/sequence_node.h

@@ -40,8 +40,10 @@ public:
 
   virtual void halt() override;
 
-private:
+protected:
   size_t current_child_idx_;
+
+private:
   size_t skipped_count_ = 0;
   bool asynch_ = false;
 

src/basic_types.cpp

@@ -237,6 +237,19 @@ std::vector<double> convertFromString<std::vector<double>>(StringView str)
   return output;
 }
 
+template <>
+std::vector<bool> convertFromString<std::vector<bool>>(StringView str)
+{
+  auto parts = splitString(str, ';');
+  std::vector<bool> output;
+  output.reserve(parts.size());
+  for(const StringView& part : parts)
+  {
+    output.push_back(convertFromString<bool>(part));
+  }
+  return output;
+}
+
 template <>
 std::vector<std::string> convertFromString<std::vector<std::string>>(StringView str)
 {

src/xml_parsing.cpp

@@ -703,7 +703,7 @@ TreeNode::Ptr XMLParser::PImpl::createNodeFromXML(const XMLElement* element,
                                     ") but not in the providedPorts() of its "
                                     "registered node type."));
         }
-        else
+        else if(!port_value.empty())
         {
           const auto& port_model = port_model_it->second;
           bool is_blacbkboard = port_value.size() >= 3 && port_value.front() == '{' &&

tests/gtest_ports.cpp

@@ -704,29 +704,36 @@ TEST(PortTest, Default_Issues_767)
                                                                    "default nullptr"));
 }
 
-TEST(PortTest, DefaultWronglyOverriden)
+TEST(PortTest, AllowEmptyValues)
 {
   BT::BehaviorTreeFactory factory;
+  factory.registerNodeType<NodeWithPorts>("NodeWithPorts");
   factory.registerNodeType<NodeWithDefaultNullptr>("NodeWithDefaultNullptr");
 
-  std::string xml_txt_wrong = R"(
+  std::string xml_txt_empty_number = R"(
+    <root BTCPP_format="4" >
+      <BehaviorTree>
+        <NodeWithPorts in_port_A=""/>
+      </BehaviorTree>
+    </root>)";
+
+  std::string xml_txt_empty_pointer = R"(
     <root BTCPP_format="4" >
       <BehaviorTree>
         <NodeWithDefaultNullptr input=""/>
       </BehaviorTree>
     </root>)";
 
-  std::string xml_txt_correct = R"(
+  std::string xml_txt_empty_default = R"(
     <root BTCPP_format="4" >
       <BehaviorTree>
         <NodeWithDefaultNullptr/>
       </BehaviorTree>
     </root>)";
 
-  // this should throw, because we are NOT using the default,
-  // but overriding it with an empty string instead.
-  // See issue 768 for reference
-  ASSERT_ANY_THROW(auto tree = factory.createTreeFromText(xml_txt_wrong));
-  // This is correct
-  ASSERT_NO_THROW(auto tree = factory.createTreeFromText(xml_txt_correct));
+  // All are correct, as we allow empty strings that will get retrieved as std::nullopt
+  // Note that this is the opposite request on issue 768
+  ASSERT_NO_THROW(auto tree = factory.createTreeFromText(xml_txt_empty_number));
+  ASSERT_NO_THROW(auto tree = factory.createTreeFromText(xml_txt_empty_pointer));
+  ASSERT_NO_THROW(auto tree = factory.createTreeFromText(xml_txt_empty_default));
 }