add private ports to exclude from autoremapping #706

BehaviorTree · Dec 6, 2023 · b3c3c25 · b3c3c25
1 parent 65504b0
commit b3c3c25
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Showing 3 changed files with 48 additions and 3 deletions.
diff --git a/include/behaviortree_cpp/decorators/subtree_node.h b/include/behaviortree_cpp/decorators/subtree_node.h
@@ -11,6 +11,8 @@ namespace BT
  * If you want to have data flow through ports, you need to explicitly
  * remap the ports.
  *
+ * NOTE: _autoremap will exclude all the ports which name start with underscore '_'
+ *
  * Consider this example:
 
 <root main_tree_to_execute = "MainTree" >

diff --git a/src/blackboard.cpp b/src/blackboard.cpp
@@ -3,6 +3,11 @@
 namespace BT
 {
 
+bool IsPrivateKey(StringView str)
+{
+  return str.size() >= 1 && str.data()[0] == '_';
+}
+
 void Blackboard::enableAutoRemapping(bool remapping)
 {
   autoremapping_ = remapping;
@@ -52,7 +57,7 @@ const std::shared_ptr<Blackboard::Entry> Blackboard::getEntry(const std::string
       auto const& new_key = remap_it->second;
       return parent->getEntry(new_key);
     }
-    if(autoremapping_)
+    if(autoremapping_ && !IsPrivateKey(key))
     {
       return parent->getEntry(key);
     }
@@ -83,7 +88,7 @@ std::shared_ptr<Blackboard::Entry> Blackboard::getEntry(const std::string &key)
       }
       return entry;
     }
-    if(autoremapping_)
+    if(autoremapping_ && !IsPrivateKey(key))
     {
       auto entry = parent->getEntry(key);
       if(entry)
@@ -202,7 +207,7 @@ Blackboard::createEntryImpl(const std::string& key, const TypeInfo& info)
       entry = parent->createEntryImpl(remapped_key, info);
     }
   }
-  else if(autoremapping_)
+  else if(autoremapping_ && !IsPrivateKey(key))
   {
     if (auto parent = parent_bb_.lock())
     {

diff --git a/tests/gtest_subtree.cpp b/tests/gtest_subtree.cpp
@@ -615,3 +615,41 @@ TEST(SubTree, RemappingIssue696)
   ASSERT_EQ(console[3], "bar");
 }
 
+TEST(SubTree, PrivateAutoRemapping)
+{
+    // clang-format off
+
+  static const char* xml_text = R"(
+  <root BTCPP_format="4">
+    <BehaviorTree ID="Subtree">\n"
+      <Sequence>
+        <SetBlackboard output_key="public_value"   value="hello"/>
+        <SetBlackboard output_key="_private_value" value="world"/>
+      </Sequence>
+    </BehaviorTree>
+
+    <BehaviorTree ID="MainTree">
+      <Sequence>
+        <SubTree ID="Subtree" _autoremap="true"/>
+        <PrintToConsole message="{public_value}"/>
+        <PrintToConsole message="{_private_value}"/>
+      </Sequence>
+    </BehaviorTree>
+  </root>
+ )";
+
+  // clang-format on
+  BehaviorTreeFactory factory;
+  std::vector<std::string> console;
+  factory.registerNodeType<PrintToConsole>("PrintToConsole", &console);
+
+  factory.registerBehaviorTreeFromText(xml_text);
+  auto tree = factory.createTree("MainTree");
+  const auto res = tree.tickWhileRunning();
+
+  // should fail because _private_value is not autoremapped
+  ASSERT_EQ(res, BT::NodeStatus::FAILURE);
+  ASSERT_EQ(console.size(), 1);
+  ASSERT_EQ(console[0], "hello");
+}
+