Convert vector to vector<Any> before placing on the blackboard

Also update checks to allow mismatch when a port was declared as a
vector<T> and we have an input port that takes it in as a vector<Any>

Author: dyackzan

include/behaviortree_cpp/basic_types.h

@@ -375,7 +375,8 @@ class TypeInfo
 
   [[nodiscard]] bool isStronglyTyped() const
   {
-    return type_info_ != typeid(AnyTypeAllowed) && type_info_ != typeid(BT::Any);
+    return type_info_ != typeid(AnyTypeAllowed) && type_info_ != typeid(BT::Any) &&
+           type_info_ != typeid(std::vector<BT::Any>);
   }
 
   [[nodiscard]] const StringConverter& converter() const

include/behaviortree_cpp/blackboard.h

@@ -257,8 +257,13 @@ inline void Blackboard::set(const std::string& key, const T& value)
 
     std::type_index previous_type = entry.info.type();
 
+    // Allow mismatch if going from vector -> vector<Any>.
+    bool previous_is_vector = std::string(previous_type.name()).find("vector") != std::string::npos;
+    bool new_is_vector_any = new_value.type() == typeid(std::vector<Any>);
+
     // check type mismatch
-    if(previous_type != std::type_index(typeid(T)) && previous_type != new_value.type())
+    if(previous_type != std::type_index(typeid(T)) && previous_type != new_value.type() &&
+       !(previous_is_vector && new_is_vector_any))
     {
       bool mismatching = true;
       if(std::is_constructible<StringView, T>::value)

include/behaviortree_cpp/tree_node.h

@@ -619,7 +619,19 @@ inline Result TreeNode::setOutput(const std::string& key, const T& value)
   }
 
   remapped_key = stripBlackboardPointer(remapped_key);
-  config().blackboard->set(static_cast<std::string>(remapped_key), value);
+
+  if constexpr(is_vector<T>::value && !std::is_same_v<T, std::vector<Any>>)
+  {
+    // If the object is a vector but not a vector<Any>, convert it to vector<Any> before placing it on the blackboard.
+    auto any_vec = std::vector<Any>();
+    std::transform(value.begin(), value.end(), std::back_inserter(any_vec),
+                   [](const auto &element) { return BT::Any(element); });
+    config().blackboard->set(static_cast<std::string>(remapped_key), any_vec);
+  }
+  else
+  {
+    config().blackboard->set(static_cast<std::string>(remapped_key), value);
+  }
 
   return {};
 }

src/xml_parsing.cpp

@@ -786,10 +786,14 @@ TreeNode::Ptr XMLParser::PImpl::createNodeFromXML(const XMLElement* element,
 
           // special case related to convertFromString
           bool const string_input = (prev_info->type() == typeid(std::string));
-          // special case related to unwrapping vector<Any> objects.
+          // special case related to unwrapping vector<Any> -> vector<T> objects.
           bool const vec_any_input = (prev_info->type() == typeid(std::vector<Any>));
+          // special case related to wrapping vector<T> -> vector<Any> objects.
+          bool previous_is_vector = std::string(prev_info->type().name()).find("vector") != std::string::npos;
+          bool new_is_vector_any = port_info.type() == typeid(std::vector<Any>);
 
-          if(port_type_mismatch && !string_input && !vec_any_input)
+          if(port_type_mismatch && !string_input &&
+             !vec_any_input & !(previous_is_vector && new_is_vector_any))
           {
             blackboard->debugMessage();