fixed

daf@blue-ocean-robotics.com · daf@blue-ocean-robotics.com · commit 626571a742aa · 2020-04-17T21:16:42.000+02:00
diff --git a/src/xml_parsing.cpp b/src/xml_parsing.cpp
@@ -656,11 +656,11 @@ void BT::XMLParser::Pimpl::recursivelyCreateTree(const std::string& tree_ID,
                     {
                         StringView port_name = TreeNode::stripBlackboardPointer(str);
                         new_bb->addSubtreeRemapping( attr->Name(), port_name);
-                        mapped_keys.insert(port_name.to_string());
+                        mapped_keys.insert(attr->Name());
                     }
                     else{
-                        new_bb->set(attr->Name(), std::string(attr->Value()) );
-                        mapped_keys.insert(attr->Value());
+                        new_bb->set(attr->Name(), static_cast<std::string>(str) );
+                        mapped_keys.insert(attr->Name());
                     }
                 }
                 recursivelyCreateTree( node->name(), output_tree, new_bb, node );
diff --git a/tests/gtest_subtree.cpp b/tests/gtest_subtree.cpp
@@ -142,7 +142,7 @@ TEST(SubTree, BadRemapping)
   EXPECT_ANY_THROW( tree_bad_out.tickRoot() );
 }
 
-TEST(SubTree, SubtreePlus)
+TEST(SubTree, SubtreePlusA)
 {
     static const char* xml_text = R"(
 
@@ -151,11 +151,8 @@ TEST(SubTree, SubtreePlus)
     <BehaviorTree ID="MainTree">
         <Sequence>
             <SetBlackboard value="Hello" output_key="myParam" />
-
             <SubTreePlus ID="mySubtree" param="{myParam}" />
-
             <SubTreePlus ID="mySubtree" param="World" />
-
             <SetBlackboard value="Auto remapped" output_key="param" />
             <SubTreePlus ID="mySubtree" __autoremap="1"  />
         </Sequence>
@@ -174,4 +171,35 @@ TEST(SubTree, SubtreePlus)
     ASSERT_EQ(ret, NodeStatus::SUCCESS );
 }
 
+TEST(SubTree, SubtreePlusB)
+{
+  static const char* xml_text = R"(
+
+<root main_tree_to_execute = "MainTree" >
+
+    <BehaviorTree ID="MainTree">
+        <Sequence>
+            <SetBlackboard value="Hello World" output_key="myParam" />
+            <SetBlackboard value="Auto remapped" output_key="param3" />
+            <SubTreePlus ID="mySubtree" __autoremap="1" param1="{myParam}" param2="Straight Talking" />
+        </Sequence>
+    </BehaviorTree>
+
+    <BehaviorTree ID="mySubtree">
+        <Sequence>
+            <SaySomething message="{param1}" />
+            <SaySomething message="{param2}" />
+            <SaySomething message="{param3}" />
+        </Sequence>
+    </BehaviorTree>
+</root> )";
+
+  BehaviorTreeFactory factory;
+  factory.registerNodeType<DummyNodes::SaySomething>("SaySomething");
+
+  Tree tree = factory.createTreeFromText(xml_text);
+  auto ret = tree.tickRoot();
+  ASSERT_EQ(ret, NodeStatus::SUCCESS );
+}
+
 

Original file line number	Diff line number	Diff line change
`@@ -656,11 +656,11 @@ void BT::XMLParser::Pimpl::recursivelyCreateTree(const std::string& tree_ID,`
`656`	`656`	`{`
`657`	`657`	`StringView port_name = TreeNode::stripBlackboardPointer(str);`
`658`	`658`	`new_bb->addSubtreeRemapping( attr->Name(), port_name);`
`659`		`- mapped_keys.insert(port_name.to_string());`
	`659`	`+ mapped_keys.insert(attr->Name());`
`660`	`660`	`}`
`661`	`661`	`else{`
`662`		`- new_bb->set(attr->Name(), std::string(attr->Value()) );`
`663`		`- mapped_keys.insert(attr->Value());`
	`662`	`+ new_bb->set(attr->Name(), static_cast<std::string>(str) );`
	`663`	`+ mapped_keys.insert(attr->Name());`
`664`	`664`	`}`
`665`	`665`	`}`
`666`	`666`	`recursivelyCreateTree( node->name(), output_tree, new_bb, node );`