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xml_parsing.cpp
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/* Copyright (C) 2018-2020 Davide Faconti, Eurecat - All Rights Reserved
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"),
* to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense,
* and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
* The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*/
#include <cstdio>
#include <cstring>
#include <functional>
#include <iostream>
#include <list>
#include <sstream>
#include <string>
#include <typeindex>
#if defined(_MSVC_LANG) && !defined(__clang__)
#define __bt_cplusplus (_MSC_VER == 1900 ? 201103L : _MSVC_LANG)
#else
#define __bt_cplusplus __cplusplus
#endif
#if defined(__linux) || defined(__linux__)
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wattributes"
#endif
#include <map>
#include "behaviortree_cpp/xml_parsing.h"
#include "tinyxml2/tinyxml2.h"
#include <filesystem>
#ifdef USING_ROS
#include <ros/package.h>
#endif
#ifdef USING_ROS2
#include <ament_index_cpp/get_package_share_directory.hpp>
#endif
#include "behaviortree_cpp/blackboard.h"
#include "behaviortree_cpp/tree_node.h"
#include "behaviortree_cpp/utils/demangle_util.h"
namespace
{
std::string xsdAttributeType(const BT::PortInfo& port_info)
{
if(port_info.direction() == BT::PortDirection::OUTPUT)
{
return "blackboardType";
}
const auto& type_info = port_info.type();
if((type_info == typeid(int)) or (type_info == typeid(unsigned int)))
{
return "integerOrBlackboardType";
}
else if(type_info == typeid(double))
{
return "decimalOrBlackboardType";
}
else if(type_info == typeid(bool))
{
return "booleanOrBlackboardType";
}
else if(type_info == typeid(std::string))
{
return "stringOrBlackboardType";
}
return std::string();
}
} // namespace
namespace BT
{
using namespace tinyxml2;
auto StrEqual = [](const char* str1, const char* str2) -> bool {
return strcmp(str1, str2) == 0;
};
struct SubtreeModel
{
std::unordered_map<std::string, BT::PortInfo> ports;
};
struct XMLParser::PImpl
{
TreeNode::Ptr createNodeFromXML(const XMLElement* element,
const Blackboard::Ptr& blackboard,
const TreeNode::Ptr& node_parent,
const std::string& prefix_path, Tree& output_tree);
void recursivelyCreateSubtree(const std::string& tree_ID, const std::string& tree_path,
const std::string& prefix_path, Tree& output_tree,
Blackboard::Ptr blackboard,
const TreeNode::Ptr& root_node);
void getPortsRecursively(const XMLElement* element,
std::vector<std::string>& output_ports);
void loadDocImpl(XMLDocument* doc, bool add_includes);
std::list<std::unique_ptr<XMLDocument> > opened_documents;
std::map<std::string, const XMLElement*> tree_roots;
const BehaviorTreeFactory& factory;
std::filesystem::path current_path;
std::map<std::string, SubtreeModel> subtree_models;
int suffix_count;
explicit PImpl(const BehaviorTreeFactory& fact)
: factory(fact), current_path(std::filesystem::current_path()), suffix_count(0)
{}
void clear()
{
suffix_count = 0;
current_path = std::filesystem::current_path();
opened_documents.clear();
tree_roots.clear();
}
private:
void loadSubtreeModel(const XMLElement* xml_root);
};
#if defined(__linux) || defined(__linux__)
#pragma GCC diagnostic pop
#endif
XMLParser::XMLParser(const BehaviorTreeFactory& factory) : _p(new PImpl(factory))
{}
XMLParser::XMLParser(XMLParser&& other) noexcept
{
this->_p = std::move(other._p);
}
XMLParser& XMLParser::operator=(XMLParser&& other) noexcept
{
this->_p = std::move(other._p);
return *this;
}
XMLParser::~XMLParser()
{}
void XMLParser::loadFromFile(const std::filesystem::path& filepath, bool add_includes)
{
_p->opened_documents.emplace_back(new XMLDocument());
XMLDocument* doc = _p->opened_documents.back().get();
doc->LoadFile(filepath.string().c_str());
_p->current_path = std::filesystem::absolute(filepath.parent_path());
_p->loadDocImpl(doc, add_includes);
}
void XMLParser::loadFromText(const std::string& xml_text, bool add_includes)
{
_p->opened_documents.emplace_back(new XMLDocument());
XMLDocument* doc = _p->opened_documents.back().get();
doc->Parse(xml_text.c_str(), xml_text.size());
_p->loadDocImpl(doc, add_includes);
}
std::vector<std::string> XMLParser::registeredBehaviorTrees() const
{
std::vector<std::string> out;
for(const auto& it : _p->tree_roots)
{
out.push_back(it.first);
}
return out;
}
void BT::XMLParser::PImpl::loadSubtreeModel(const XMLElement* xml_root)
{
for(auto models_node = xml_root->FirstChildElement("TreeNodesModel");
models_node != nullptr; models_node = models_node->NextSiblingElement("TreeNodesMo"
"del"))
{
for(auto sub_node = models_node->FirstChildElement("SubTree"); sub_node != nullptr;
sub_node = sub_node->NextSiblingElement("SubTree"))
{
auto subtree_id = sub_node->Attribute("ID");
auto& subtree_model = subtree_models[subtree_id];
std::pair<const char*, BT::PortDirection> port_types[3] = {
{ "input_port", BT::PortDirection::INPUT },
{ "output_port", BT::PortDirection::OUTPUT },
{ "inout_port", BT::PortDirection::INOUT }
};
for(const auto& [name, direction] : port_types)
{
for(auto port_node = sub_node->FirstChildElement(name); port_node != nullptr;
port_node = port_node->NextSiblingElement(name))
{
BT::PortInfo port(direction);
auto name = port_node->Attribute("name");
if(!name)
{
throw RuntimeError("Missing attribute [name] in port (SubTree model)");
}
if(auto default_value = port_node->Attribute("default"))
{
port.setDefaultValue(default_value);
}
if(auto description = port_node->Attribute("description"))
{
port.setDescription(description);
}
subtree_model.ports[name] = std::move(port);
}
}
}
}
}
void XMLParser::PImpl::loadDocImpl(XMLDocument* doc, bool add_includes)
{
if(doc->Error())
{
char buffer[512];
snprintf(buffer, sizeof buffer, "Error parsing the XML: %s", doc->ErrorStr());
throw RuntimeError(buffer);
}
const XMLElement* xml_root = doc->RootElement();
auto format = xml_root->Attribute("BTCPP_format");
if(!format)
{
std::cout << "Warnings: The first tag of the XML (<root>) should contain the "
"attribute [BTCPP_format=\"4\"]\n"
<< "Please check if your XML is compatible with version 4.x of BT.CPP"
<< std::endl;
}
// recursively include other files
for(auto incl_node = xml_root->FirstChildElement("include"); incl_node != nullptr;
incl_node = incl_node->NextSiblingElement("include"))
{
if(!add_includes)
{
break;
}
#if __bt_cplusplus >= 202002L
auto file_path(std::filesystem::path(incl_node->Attribute("path")));
#else
auto file_path(std::filesystem::u8path(incl_node->Attribute("path")));
#endif
const char* ros_pkg_relative_path = incl_node->Attribute("ros_pkg");
if(ros_pkg_relative_path)
{
if(file_path.is_absolute())
{
std::cout << "WARNING: <include path=\"...\"> contains an absolute path.\n"
<< "Attribute [ros_pkg] will be ignored." << std::endl;
}
else
{
std::string ros_pkg_path;
#ifdef USING_ROS
ros_pkg_path = ros::package::getPath(ros_pkg_relative_path);
#elif defined USING_ROS2
ros_pkg_path =
ament_index_cpp::get_package_share_directory(ros_pkg_relative_path);
#else
throw RuntimeError("Using attribute [ros_pkg] in <include>, but this library was "
"compiled without ROS support. Recompile the BehaviorTree.CPP "
"using catkin");
#endif
file_path = std::filesystem::path(ros_pkg_path) / file_path;
}
}
if(!file_path.is_absolute())
{
file_path = current_path / file_path;
}
opened_documents.emplace_back(new XMLDocument());
XMLDocument* next_doc = opened_documents.back().get();
// change current path to the included file for handling additional relative paths
const auto previous_path = current_path;
current_path = std::filesystem::absolute(file_path.parent_path());
next_doc->LoadFile(file_path.string().c_str());
loadDocImpl(next_doc, add_includes);
// reset current path to the previous value
current_path = previous_path;
}
// Collect the names of all nodes registered with the behavior tree factory
std::unordered_map<std::string, BT::NodeType> registered_nodes;
for(const auto& it : factory.manifests())
{
registered_nodes.insert({ it.first, it.second.type });
}
XMLPrinter printer;
doc->Print(&printer);
auto xml_text = std::string(printer.CStr(), size_t(printer.CStrSize()));
// Verify the validity of the XML before adding any behavior trees to the parser's list of registered trees
VerifyXML(xml_text, registered_nodes);
loadSubtreeModel(xml_root);
// Register each BehaviorTree within the XML
for(auto bt_node = xml_root->FirstChildElement("BehaviorTree"); bt_node != nullptr;
bt_node = bt_node->NextSiblingElement("BehaviorTree"))
{
std::string tree_name;
if(bt_node->Attribute("ID"))
{
tree_name = bt_node->Attribute("ID");
}
else
{
tree_name = "BehaviorTree_" + std::to_string(suffix_count++);
}
tree_roots[tree_name] = bt_node;
}
}
void VerifyXML(const std::string& xml_text,
const std::unordered_map<std::string, BT::NodeType>& registered_nodes)
{
XMLDocument doc;
auto xml_error = doc.Parse(xml_text.c_str(), xml_text.size());
if(xml_error)
{
char buffer[512];
snprintf(buffer, sizeof buffer, "Error parsing the XML: %s", doc.ErrorName());
throw RuntimeError(buffer);
}
//-------- Helper functions (lambdas) -----------------
auto ThrowError = [&](int line_num, const std::string& text) {
char buffer[512];
snprintf(buffer, sizeof buffer, "Error at line %d: -> %s", line_num, text.c_str());
throw RuntimeError(buffer);
};
auto ChildrenCount = [](const XMLElement* parent_node) {
int count = 0;
for(auto node = parent_node->FirstChildElement(); node != nullptr;
node = node->NextSiblingElement())
{
count++;
}
return count;
};
//-----------------------------
const XMLElement* xml_root = doc.RootElement();
if(!xml_root || !StrEqual(xml_root->Name(), "root"))
{
throw RuntimeError("The XML must have a root node called <root>");
}
//-------------------------------------------------
auto models_root = xml_root->FirstChildElement("TreeNodesModel");
auto meta_sibling =
models_root ? models_root->NextSiblingElement("TreeNodesModel") : nullptr;
if(meta_sibling)
{
ThrowError(meta_sibling->GetLineNum(), " Only a single node <TreeNodesModel> is "
"supported");
}
if(models_root)
{
// not having a MetaModel is not an error. But consider that the
// Graphical editor needs it.
for(auto node = xml_root->FirstChildElement(); node != nullptr;
node = node->NextSiblingElement())
{
const std::string name = node->Name();
if(name == "Action" || name == "Decorator" || name == "SubTree" ||
name == "Condition" || name == "Control")
{
const char* ID = node->Attribute("ID");
if(!ID)
{
ThrowError(node->GetLineNum(), "Error at line %d: -> The attribute "
"[ID] is mandatory");
}
}
}
}
//-------------------------------------------------
int behavior_tree_count = 0;
for(auto child = xml_root->FirstChildElement(); child != nullptr;
child = child->NextSiblingElement())
{
behavior_tree_count++;
}
// function to be called recursively
std::function<void(const XMLElement*)> recursiveStep;
recursiveStep = [&](const XMLElement* node) {
const int children_count = ChildrenCount(node);
const std::string name = node->Name();
const std::string ID = node->Attribute("ID") ? node->Attribute("ID") : "";
const int line_number = node->GetLineNum();
if(name == "Decorator")
{
if(children_count != 1)
{
ThrowError(line_number, "The tag <Decorator> must have exactly 1 "
"child");
}
if(ID.empty())
{
ThrowError(line_number, "The tag <Decorator> must have the "
"attribute [ID]");
}
}
else if(name == "Action")
{
if(children_count != 0)
{
ThrowError(line_number, "The tag <Action> must not have any "
"child");
}
if(ID.empty())
{
ThrowError(line_number, "The tag <Action> must have the "
"attribute [ID]");
}
}
else if(name == "Condition")
{
if(children_count != 0)
{
ThrowError(line_number, "The tag <Condition> must not have any "
"child");
}
if(ID.empty())
{
ThrowError(line_number, "The tag <Condition> must have the "
"attribute [ID]");
}
}
else if(name == "Control")
{
if(children_count == 0)
{
ThrowError(line_number, "The tag <Control> must have at least 1 "
"child");
}
if(ID.empty())
{
ThrowError(line_number, "The tag <Control> must have the "
"attribute [ID]");
}
}
else if(name == "SubTree")
{
if(children_count != 0)
{
ThrowError(line_number, "<SubTree> should not have any child");
}
if(ID.empty())
{
ThrowError(line_number, "The tag <SubTree> must have the "
"attribute [ID]");
}
if(registered_nodes.count(ID) != 0)
{
ThrowError(line_number, "The attribute [ID] of tag <SubTree> must "
"not use the name of a registered Node");
}
}
else if(name == "BehaviorTree")
{
if(ID.empty() && behavior_tree_count > 1)
{
ThrowError(line_number, "The tag <BehaviorTree> must have the "
"attribute [ID]");
}
if(children_count != 1)
{
ThrowError(line_number, "The tag <BehaviorTree> must have exactly 1 "
"child");
}
if(registered_nodes.count(ID) != 0)
{
ThrowError(line_number, "The attribute [ID] of tag <BehaviorTree> "
"must not use the name of a registered Node");
}
}
else
{
// search in the factory and the list of subtrees
const auto search = registered_nodes.find(name);
bool found = (search != registered_nodes.end());
if(!found)
{
ThrowError(line_number, std::string("Node not recognized: ") + name);
}
if(search->second == NodeType::DECORATOR)
{
if(children_count != 1)
{
ThrowError(line_number,
std::string("The node <") + name + "> must have exactly 1 child");
}
}
else if(search->second == NodeType::CONTROL)
{
if(children_count == 0)
{
ThrowError(line_number,
std::string("The node <") + name + "> must have 1 or more children");
}
}
}
//recursion
for(auto child = node->FirstChildElement(); child != nullptr;
child = child->NextSiblingElement())
{
recursiveStep(child);
}
};
for(auto bt_root = xml_root->FirstChildElement("BehaviorTree"); bt_root != nullptr;
bt_root = bt_root->NextSiblingElement("BehaviorTree"))
{
recursiveStep(bt_root);
}
}
Tree XMLParser::instantiateTree(const Blackboard::Ptr& root_blackboard,
std::string main_tree_ID)
{
Tree output_tree;
// use the main_tree_to_execute argument if it was provided by the user
// or the one in the FIRST document opened
if(main_tree_ID.empty())
{
XMLElement* first_xml_root = _p->opened_documents.front()->RootElement();
if(auto main_tree_attribute = first_xml_root->Attribute("main_tree_to_execute"))
{
main_tree_ID = main_tree_attribute;
}
else if(_p->tree_roots.size() == 1)
{
// special case: there is only one registered BT.
main_tree_ID = _p->tree_roots.begin()->first;
}
else
{
throw RuntimeError("[main_tree_to_execute] was not specified correctly");
}
}
//--------------------------------------
if(!root_blackboard)
{
throw RuntimeError("XMLParser::instantiateTree needs a non-empty "
"root_blackboard");
}
_p->recursivelyCreateSubtree(main_tree_ID, {}, {}, output_tree, root_blackboard,
TreeNode::Ptr());
output_tree.initialize();
return output_tree;
}
void XMLParser::clearInternalState()
{
_p->clear();
}
TreeNode::Ptr XMLParser::PImpl::createNodeFromXML(const XMLElement* element,
const Blackboard::Ptr& blackboard,
const TreeNode::Ptr& node_parent,
const std::string& prefix_path,
Tree& output_tree)
{
const auto element_name = element->Name();
const auto element_ID = element->Attribute("ID");
auto node_type = convertFromString<NodeType>(element_name);
// name used by the factory
std::string type_ID;
if(node_type == NodeType::UNDEFINED)
{
// This is the case of nodes like <MyCustomAction>
// check if the factory has this name
if(factory.builders().count(element_name) == 0)
{
throw RuntimeError(element_name, " is not a registered node");
}
type_ID = element_name;
if(element_ID)
{
throw RuntimeError("Attribute [ID] is not allowed in <", type_ID, ">");
}
}
else
{
// in this case, it is mandatory to have a field "ID"
if(!element_ID)
{
throw RuntimeError("Attribute [ID] is mandatory in <", type_ID, ">");
}
type_ID = element_ID;
}
// By default, the instance name is equal to ID, unless the
// attribute [name] is present.
const char* attr_name = element->Attribute("name");
const std::string instance_name = (attr_name != nullptr) ? attr_name : type_ID;
const TreeNodeManifest* manifest = nullptr;
auto manifest_it = factory.manifests().find(type_ID);
if(manifest_it != factory.manifests().end())
{
manifest = &manifest_it->second;
}
PortsRemapping port_remap;
for(const XMLAttribute* att = element->FirstAttribute(); att; att = att->Next())
{
if(IsAllowedPortName(att->Name()))
{
const std::string port_name = att->Name();
const std::string port_value = att->Value();
if(manifest)
{
const auto* port_model = findPortInfo(manifest->ports, port_name);
if(!port_model)
{
throw RuntimeError(StrCat("a port with name [", port_name,
"] is found in the XML, but not in the "
"providedPorts()"));
}
else
{
bool is_blacbkboard = port_value.size() >= 3 && port_value.front() == '{' &&
port_value.back() == '}';
// let's test already if conversion is possible
if(!is_blacbkboard && port_model->converter() && port_model->isStronglyTyped())
{
// This may throw
try
{
port_model->converter()(port_value);
}
catch(std::exception& ex)
{
auto msg = StrCat("The port with name \"", port_name, "\" and value \"",
port_value, "\" can not be converted to ",
port_model->typeName());
throw LogicError(msg);
}
}
}
}
port_remap[port_name] = port_value;
}
}
NodeConfig config;
config.blackboard = blackboard;
config.path = prefix_path + instance_name;
config.uid = output_tree.getUID();
config.manifest = manifest;
if(type_ID == instance_name)
{
config.path += std::string("::") + std::to_string(config.uid);
}
auto AddCondition = [&](auto& conditions, const char* attr_name, auto ID) {
if(auto script = element->Attribute(attr_name))
{
conditions.insert({ ID, std::string(script) });
}
};
for(int i = 0; i < int(PreCond::COUNT_); i++)
{
auto pre = static_cast<PreCond>(i);
AddCondition(config.pre_conditions, toStr(pre).c_str(), pre);
}
for(int i = 0; i < int(PostCond::COUNT_); i++)
{
auto post = static_cast<PostCond>(i);
AddCondition(config.post_conditions, toStr(post).c_str(), post);
}
//---------------------------------------------
TreeNode::Ptr new_node;
if(node_type == NodeType::SUBTREE)
{
config.input_ports = port_remap;
new_node =
factory.instantiateTreeNode(instance_name, toStr(NodeType::SUBTREE), config);
auto subtree_node = dynamic_cast<SubTreeNode*>(new_node.get());
subtree_node->setSubtreeID(type_ID);
}
else
{
if(!manifest)
{
auto msg = StrCat("Missing manifest for element_ID: ", element_ID,
". It shouldn't happen. Please report this issue.");
throw RuntimeError(msg);
}
//Check that name in remapping can be found in the manifest
for(const auto& [name_in_subtree, _] : port_remap)
{
if(!findPortInfo(manifest->ports, name_in_subtree))
{
throw RuntimeError("Possible typo? In the XML, you tried to remap port \"",
name_in_subtree, "\" in node [", config.path, "(type ",
type_ID,
")], but the manifest/model of this node does not contain a "
"port "
"with this name.");
}
}
// Initialize the ports in the BB to set the type
for(const auto& [port_name, port_info] : manifest->ports)
{
auto remap_it = port_remap.find(port_name);
if(remap_it == port_remap.end())
{
continue;
}
StringView remapped_port = remap_it->second;
if(auto param_res = TreeNode::getRemappedKey(port_name, remapped_port))
{
// port_key will contain the key to find the entry in the blackboard
const auto port_key = static_cast<std::string>(param_res.value());
// if the entry already exists, check that the type is the same
if(auto prev_info = blackboard->entryInfo(port_key))
{
// Check consistency of types.
bool const port_type_mismatch =
(prev_info->isStronglyTyped() && port_info.isStronglyTyped() &&
prev_info->type() != port_info.type());
// special case related to convertFromString
bool const string_input = (prev_info->type() == typeid(std::string));
if(port_type_mismatch && !string_input)
{
blackboard->debugMessage();
throw RuntimeError("The creation of the tree failed because the port [",
port_key, "] was initially created with type [",
demangle(prev_info->type()), "] and, later type [",
demangle(port_info.type()), "] was used somewhere else.");
}
}
else
{
// not found, insert for the first time.
blackboard->createEntry(port_key, port_info);
}
}
}
// Set the port direction in config
for(const auto& remap_it : port_remap)
{
const auto& port_name = remap_it.first;
const auto* port_info = findPortInfo(manifest->ports, port_name);
if(port_info != nullptr)
{
auto direction = port_info->direction();
if(direction != PortDirection::OUTPUT)
{
config.input_ports.insert(remap_it);
}
if(direction != PortDirection::INPUT)
{
config.output_ports.insert(remap_it);
}
}
}
// use default value if available for empty ports. Only inputs
for(const auto& port_it : manifest->ports)
{
const std::string& port_name = port_it.first;
const PortInfo& port_info = port_it.second;
const auto direction = port_info.direction();
const auto& default_string = port_info.defaultValueString();
if(!default_string.empty())
{
if(direction != PortDirection::OUTPUT && config.input_ports.count(port_name) == 0)
{
config.input_ports.insert({ port_name, default_string });
}
if(direction != PortDirection::INPUT &&
config.output_ports.count(port_name) == 0 &&
TreeNode::isBlackboardPointer(default_string))
{
config.output_ports.insert({ port_name, default_string });
}
}
}
new_node = factory.instantiateTreeNode(instance_name, type_ID, config);
}
// add the pointer of this node to the parent
if(node_parent != nullptr)
{
if(auto control_parent = dynamic_cast<ControlNode*>(node_parent.get()))
{
control_parent->addChild(new_node.get());
}
else if(auto decorator_parent = dynamic_cast<DecoratorNode*>(node_parent.get()))
{
decorator_parent->setChild(new_node.get());
}
}
return new_node;
}
void BT::XMLParser::PImpl::recursivelyCreateSubtree(const std::string& tree_ID,
const std::string& tree_path,
const std::string& prefix_path,
Tree& output_tree,
Blackboard::Ptr blackboard,
const TreeNode::Ptr& root_node)
{
std::function<void(const TreeNode::Ptr&, Tree::Subtree::Ptr, std::string,
const XMLElement*)>
recursiveStep;
recursiveStep = [&](TreeNode::Ptr parent_node, Tree::Subtree::Ptr subtree,
std::string prefix, const XMLElement* element) {
// create the node
auto node = createNodeFromXML(element, blackboard, parent_node, prefix, output_tree);
subtree->nodes.push_back(node);
// common case: iterate through all children
if(node->type() != NodeType::SUBTREE)
{
for(auto child_element = element->FirstChildElement(); child_element;
child_element = child_element->NextSiblingElement())
{
recursiveStep(node, subtree, prefix, child_element);
}
}
else // special case: SubTreeNode
{
auto new_bb = Blackboard::create(blackboard);
const std::string subtree_ID = element->Attribute("ID");
std::unordered_map<std::string, std::string> subtree_remapping;
bool do_autoremap = false;
for(auto attr = element->FirstAttribute(); attr != nullptr; attr = attr->Next())
{
std::string attr_name = attr->Name();
std::string attr_value = attr->Value();
if(attr_value == "{=}")
{
attr_value = StrCat("{", attr_name, "}");
}
if(attr_name == "_autoremap")
{
do_autoremap = convertFromString<bool>(attr_value);
new_bb->enableAutoRemapping(do_autoremap);
continue;
}
if(!IsAllowedPortName(attr->Name()))
{
continue;
}
subtree_remapping.insert({ attr_name, attr_value });
}
// check if this subtree has a model. If it does,
// we want to check if all the mandatory ports were remapped and
// add default ones, if necessary
auto subtree_model_it = subtree_models.find(subtree_ID);
if(subtree_model_it != subtree_models.end())
{
const auto& subtree_model_ports = subtree_model_it->second.ports;
// check if:
// - remapping contains mondatory ports
// - if any of these has default value
for(const auto& [port_name, port_info] : subtree_model_ports)
{
auto it = subtree_remapping.find(port_name);
// don't override existing remapping
if(it == subtree_remapping.end() && !do_autoremap)
{
// remapping is not explicitly defined in the XML: use the model
if(port_info.defaultValueString().empty())
{
auto msg = StrCat("In the <TreeNodesModel> the <Subtree ID=\"", subtree_ID,
"\"> is defining a mandatory port called [", port_name,
"], but you are not remapping it");
throw RuntimeError(msg);
}
else
{
subtree_remapping.insert({ port_name, port_info.defaultValueString() });
}
}
}
}
for(const auto& [attr_name, attr_value] : subtree_remapping)
{
if(TreeNode::isBlackboardPointer(attr_value))
{
// do remapping
StringView port_name = TreeNode::stripBlackboardPointer(attr_value);
new_bb->addSubtreeRemapping(attr_name, port_name);
}
else
{
// constant string: just set that constant value into the BB
// IMPORTANT: this must not be autoremapped!!!
new_bb->enableAutoRemapping(false);
new_bb->set(attr_name, static_cast<std::string>(attr_value));
new_bb->enableAutoRemapping(do_autoremap);
}
}
std::string subtree_path = subtree->instance_name;
if(!subtree_path.empty())
{
subtree_path += "/";
}
if(auto name = element->Attribute("name"))
{
subtree_path += name;
}
else
{
subtree_path += subtree_ID + "::" + std::to_string(node->UID());
}
recursivelyCreateSubtree(subtree_ID,
subtree_path, // name
subtree_path + "/", //prefix
output_tree, new_bb, node);
}
};
auto it = tree_roots.find(tree_ID);
if(it == tree_roots.end())
{
throw std::runtime_error(std::string("Can't find a tree with name: ") + tree_ID);
}
auto root_element = it->second->FirstChildElement();