Fix fromPython when using python types

Author: JafarAbdi

README.md

@@ -40,6 +40,12 @@ bt.load_type_converters(
 ...
 ```
 
+## Limitations
+
+- Only `register_simple_action`, `register_simple_condition`, and `register_simple_decorator` are supported.
+- Due to limitations of `BT::Any` only copy-constructible types are supported.
+- Due to how `pybind11` handle memory, mixing `std::shared_ptr` and `std::unique_ptr` between python/c++ is not supported.
+
 ## Acknowledgements
 
 - A few functions were based on https://github.com/BehaviorTree/BehaviorTree.CPP/pull/634

include/behaviortree_py/behaviortree_py.hpp

@@ -51,7 +51,7 @@ BTPY_EXPORT BT::Any fromPython(const pybind11::object& bpo);
 // Get the name of all registered type converters
 std::vector<std::string> get_registered_converters();
 
-/// utility class to register C++ / Python converters for a BT::Any of type T
+/// Utility class to register C++ / Python converters for a BT::Any of type T
 template <typename T>
 class TypeConverter {
  public:

src/behaviortree_py.cpp

@@ -43,6 +43,8 @@ bool TypeConverterRegistry::insert(const std::type_index& type_index,
 
   if (!ros_msg_name.empty()) {  // is this a ROS msg type?
     msg_names_.insert(std::make_pair(ros_msg_name, it_inserted.first));
+  } else {
+    msg_names_.insert(std::make_pair(BT::demangle(type_index), it_inserted.first));
   }
 
   return true;
@@ -83,9 +85,24 @@ BT::Any fromPython(const py::object& po) {
 
   const std::string& ros_msg_name = rosMsgName(o);
   auto it = TypeConverterRegistry::get().msg_names_.find(ros_msg_name);
-  if (it == TypeConverterRegistry::get().msg_names_.end())
-    throw py::type_error("No C++ conversion available for type: " + ros_msg_name +
-                         "\n Available conversions : " + fmt::format("{}", get_registered_converters()));
+  if (it == TypeConverterRegistry::get().msg_names_.end()) {
+    try {
+      // Get the Python type object
+      PyTypeObject* type = po.ptr()->ob_type;
+
+      // Check if it's a wrapped C++ type by checking for the type_info holder
+      if (auto* type_info = pybind11::detail::get_type_info(type)) {
+        const std::string cpptype = BT::demangle(*type_info->cpptype);
+        it = TypeConverterRegistry::get().msg_names_.find(cpptype);
+        if (it == TypeConverterRegistry::get().msg_names_.end()) {
+          throw py::type_error("No C++ conversion available for type: '" + cpptype +
+                               "'\n Available conversions : " + fmt::format("{}", get_registered_converters()));
+        }
+      }
+    } catch (const std::runtime_error& e) {
+      throw py::type_error(e.what());
+    }
+  }
 
   return it->second->second.from_(po);
 }

src/bindings/behaviortree_py.cpp

@@ -125,5 +125,12 @@ PYBIND11_MODULE(behaviortree_py, m) {
           "output_port",
           [](BT::StringView name, BT::StringView description) { return BT::OutputPort<BT::Any>(name, description); },
           py::arg("name"),
+          py::arg("description") = "")
+      .def(
+          "bidirectional_port",
+          [](BT::StringView name, BT::StringView description) {
+            return BT::BidirectionalPort<BT::Any>(name, description);
+          },
+          py::arg("name"),
           py::arg("description") = "");
 }