fix segfault and throw instead when manifest is nullptr

Author: facontidavide

include/behaviortree_cpp/tree_node.h

@@ -433,6 +433,13 @@ inline Expected<Timestamp> TreeNode::getInputStamped(const std::string& key,
   {
     port_value_str = input_port_it->second;
   }
+  else if(!config().manifest)
+  {
+    return nonstd::make_unexpected(StrCat("getInput() of node '", fullPath(),
+                                          "' failed because the manifest is "
+                                          "nullptr (WTF?) and the key: [",
+                                          key, "] is missing"));
+  }
   else
   {
     // maybe it is declared with a default value in the manifest

tests/gtest_ports.cpp

@@ -18,8 +18,16 @@ class NodeWithPorts : public SyncActionNode
   {
     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)
+    if(!getInput("in_port_A", val_A))
+    {
+      throw RuntimeError("missing input [in_port_A]");
+    }
+    if(!getInput("in_port_B", val_B))
+    {
+      throw RuntimeError("missing input [in_port_B]");
+    }
+
+    if(val_A == 42 && val_B == 66)
     {
       return NodeStatus::SUCCESS;
     }
@@ -33,6 +41,16 @@ class NodeWithPorts : public SyncActionNode
   }
 };
 
+TEST(PortTest, WrongNodeConfig)
+{
+  NodeConfig config;
+  config.input_ports["in_port_A"] = "42";
+  // intentionally missing:
+  // config.input_ports["in_port_B"] = "69";
+  NodeWithPorts node("will_fail", config);
+  ASSERT_ANY_THROW(node.tick());
+}
+
 TEST(PortTest, DefaultPorts)
 {
   std::string xml_txt = R"(
@@ -61,8 +79,7 @@ TEST(PortTest, MissingPort)
   BehaviorTreeFactory factory;
   factory.registerNodeType<NodeWithPorts>("NodeWithPorts");
   auto tree = factory.createTreeFromText(xml_txt);
-  NodeStatus status = tree.tickWhileRunning();
-  ASSERT_EQ(status, NodeStatus::FAILURE);
+  ASSERT_ANY_THROW(tree.tickWhileRunning());
 }
 
 TEST(PortTest, WrongPort)