add cast to ENUMS in ports

Author: facontidavide

include/behaviortree_cpp/utils/safe_any.hpp

@@ -120,6 +120,12 @@ class Any
                _any.type() == typeid(double);
     }
 
+    bool isIntegral() const
+    {
+        return _any.type() == typeid(int64_t) ||
+               _any.type() == typeid(uint64_t);
+    }
+
     bool isString() const
     {
         return _any.type() == typeid(SafeAny::SimpleString);
@@ -176,6 +182,16 @@ class Any
     {
         static_assert(!std::is_reference<T>::value, "Any::cast uses value semantic, can not cast to reference");
 
+        if constexpr(std::is_enum_v<T>)
+        {
+            if(!isNumber())
+            {
+                std::cout  <<  demangle( _any.type() ) << std::endl;
+                throw std::runtime_error("Any::cast failed to cast to enum type");
+            }
+            return static_cast<T>( convert<int>().value() );
+        }
+
         if( _any.empty() )
         {
             throw std::runtime_error("Any::cast failed because it is empty");

tests/script_parser_test.cpp

@@ -247,3 +247,51 @@ TEST(ParserTest, Enums)
   ASSERT_EQ(blackboard->get<int>("color2"), BLUE);
   ASSERT_EQ(blackboard->get<int>("color3"), GREEN);
 }
+
+enum DeviceType { BATT=1, CONTROLLER=2 };
+
+
+BT::NodeStatus checkLevel(BT::TreeNode &self)
+{
+  double percent = self.getInput<double>("percentage").value();
+  DeviceType devType = self.getInput<DeviceType>("deviceType").value();
+
+  if(devType == DeviceType::BATT)
+  {
+    self.setOutput("isLowBattery", (percent < 25));
+  }
+  std::cout << "Device: " << devType << " Level: " << percent << std::endl;
+  return BT::NodeStatus::SUCCESS;
+}
+
+TEST(ParserTest, Enums_Issue_523)
+{
+  BT::BehaviorTreeFactory factory;
+
+  const std::string xml_text = R"(
+  <root BTCPP_format="4" >
+    <BehaviorTree ID="PowerManagerT">
+      <Sequence>
+        <Script code=" deviceA:=BATT; deviceB:=CONTROLLER; LOW_BATT:=20 "/>
+        <CheckLevel deviceType="{deviceA}" percentage="{LOW_BATT}" isLowBattery="{isLowBattery}"/>
+      </Sequence>
+    </BehaviorTree>
+  </root> )";
+
+  factory.registerSimpleCondition("CheckLevel", std::bind(checkLevel, std::placeholders::_1),
+                                  { BT::InputPort("percentage"),
+                                   BT::InputPort("deviceType"),
+                                   BT::OutputPort("isLowBattery")});
+
+  factory.registerScriptingEnums<DeviceType>();
+
+  auto tree = factory.createTreeFromText(xml_text);
+  const auto status = tree.tickWhileRunning();
+  ASSERT_EQ(status, BT::NodeStatus::SUCCESS);
+
+  const auto& blackboard = tree.subtrees.front()->blackboard;
+  ASSERT_EQ(blackboard->get<int>("deviceA"), BATT);
+  ASSERT_EQ(blackboard->get<int>("deviceB"), CONTROLLER);
+  ASSERT_EQ(blackboard->get<bool>("isLowBattery"), true);
+}
+