adding TreeNode::modifyPortsRemapping that might be useful in the future

facontidavide · facontidavide · commit 36e614e2eada · 2019-03-08T23:48:49.000+01:00
diff --git a/include/behaviortree_cpp/tree_node.h b/include/behaviortree_cpp/tree_node.h
@@ -59,7 +59,7 @@ class TreeNode
      * @brief TreeNode main constructor.
      *
      * @param name     name of the instance, not the type.
-     * @param config   information about input/outpu ports. See NodeConfiguration
+     * @param config   information about input/output ports. See NodeConfiguration
      *
      * Note: If your custom node has ports, the derived class must implement:
      *
@@ -160,6 +160,8 @@ class TreeNode
         registration_ID_.assign(ID.data(), ID.size());
     }
 
+    void modifyPortsRemapping(const PortsRemapping& new_remapping);
+
   private:
     const std::string name_;
 
@@ -173,7 +175,7 @@ class TreeNode
 
     const uint16_t uid_;
 
-    const NodeConfiguration config_;
+    NodeConfiguration config_;
 
     std::string registration_ID_;
 };
diff --git a/src/tree_node.cpp b/src/tree_node.cpp
@@ -144,4 +144,21 @@ Optional<StringView> TreeNode::getRemappedKey(StringView port_name, StringView r
     return nonstd::make_unexpected("Not a blackboard pointer");
 }
 
+void TreeNode::modifyPortsRemapping(const PortsRemapping &new_remapping)
+{
+    for (const auto& new_it: new_remapping)
+    {
+        auto it = config_.input_ports.find( new_it.first );
+        if( it != config_.input_ports.end() )
+        {
+            it->second = new_it.second;
+        }
+        it = config_.output_ports.find( new_it.first );
+        if( it != config_.output_ports.end() )
+        {
+            it->second = new_it.second;
+        }
+    }
+}
+
 }   // end namespace

Original file line number	Diff line number	Diff line change
`@@ -59,7 +59,7 @@ class TreeNode`
`59`	`59`	`* @brief TreeNode main constructor.`
`60`	`60`	`*`
`61`	`61`	`* @param name name of the instance, not the type.`
`62`		`- * @param config information about input/outpu ports. See NodeConfiguration`
	`62`	`+ * @param config information about input/output ports. See NodeConfiguration`
`63`	`63`	`*`
`64`	`64`	`* Note: If your custom node has ports, the derived class must implement:`
`65`	`65`	`*`
`@@ -160,6 +160,8 @@ class TreeNode`
`160`	`160`	`registration_ID_.assign(ID.data(), ID.size());`
`161`	`161`	`}`
`162`	`162`
	`163`	`+ void modifyPortsRemapping(const PortsRemapping& new_remapping);`
	`164`	`+`
`163`	`165`	`private:`
`164`	`166`	`const std::string name_;`
`165`	`167`
`@@ -173,7 +175,7 @@ class TreeNode`
`173`	`175`
`174`	`176`	`const uint16_t uid_;`
`175`	`177`
`176`		`- const NodeConfiguration config_;`
	`178`	`+ NodeConfiguration config_;`
`177`	`179`
`178`	`180`	`std::string registration_ID_;`
`179`	`181`	`};`