Fix bug in default port values

Author: facontidavide

include/behaviortree_cpp_v3/basic_types.h

@@ -296,14 +296,6 @@ template <typename T = void> inline
     return out;
 }
 
-template <typename T = void> inline
-    std::pair<std::string,PortInfo> OutputPort(StringView name, const T& default_value, StringView description)
-{
-    auto out = CreatePort<T>(PortDirection::OUTPUT, name, description );
-    out.second.setDefaultValue( BT::toStr(default_value) );
-    return out;
-}
-
 template <typename T = void> inline
     std::pair<std::string,PortInfo> BidirectionalPort(StringView name, const T& default_value, StringView description)
 {

src/xml_parsing.cpp

@@ -569,7 +569,7 @@ TreeNode::Ptr XMLParser::Pimpl::createNodeFromXML(const XMLElement *element,
             const PortInfo& port_info = port_it.second;
 
             auto direction = port_info.direction();
-            if( direction != PortDirection::INPUT &&
+            if( direction != PortDirection::OUTPUT &&
                 config.input_ports.count(port_name) == 0 &&
                 port_info.defaultValue().empty() == false)
             {

tests/CMakeLists.txt

@@ -13,6 +13,7 @@ set(BT_TESTS
   gtest_factory.cpp
   gtest_decorator.cpp
   gtest_blackboard.cpp
+  gtest_ports.cpp
   navigation_test.cpp
   gtest_subtree.cpp
   gtest_switch.cpp

tests/gtest_ports.cpp

@@ -0,0 +1,53 @@
+#include <gtest/gtest.h>
+#include "behaviortree_cpp_v3/bt_factory.h"
+
+using namespace BT;
+
+class NodeWithPorts: public SyncActionNode
+{
+  public:
+    NodeWithPorts(const std::string & name, const NodeConfiguration & config)
+    : SyncActionNode(name, config)
+    {
+        std::cout << "ctor" << std::endl;
+    }
+
+      NodeStatus tick()
+    {
+        int val_A = 0;
+        int val_B = 0;
+        if( getInput("in_port_A", val_A) &&
+            getInput("in_port_B", val_B) &&
+            val_A == 42 && val_B == 66)
+        {
+            return NodeStatus::SUCCESS;
+        }
+        return NodeStatus::FAILURE;
+    }
+
+    static PortsList providedPorts()
+    {
+        return { BT::InputPort<int>("in_port_A", 42, "magic_number"),
+                 BT::InputPort<int>("in_port_B") };
+    }
+};
+
+TEST(PortTest, DefaultPorts)
+{
+    std::string xml_txt = R"(
+    <root main_tree_to_execute = "MainTree" >
+        <BehaviorTree ID="MainTree">
+            <NodeWithPorts name = "first"  in_port_B="66" />
+        </BehaviorTree>
+    </root>)";
+
+    BehaviorTreeFactory factory;
+    factory.registerNodeType<NodeWithPorts>("NodeWithPorts");
+
+    auto tree = factory.createTreeFromText(xml_txt);
+
+    NodeStatus status = tree.root_node->executeTick();
+    ASSERT_EQ( status, NodeStatus::SUCCESS );
+
+}
+