Merge branch 'master' of https://github.com/BehaviorTree/BehaviorTree.CPP

Davide Faconti · Davide Faconti · commit ad5dfc2faf45 · 2019-03-29T10:59:23.000+01:00
diff --git a/docs/index.md b/docs/index.md
@@ -57,7 +57,7 @@ complex.
 
 The usual approach to manage complexity, heterogeneity and scalability is to 
 use the concept of 
-[Component Base Software Engineering](https://en.wikipedia.org/wiki/Component-based_software_engineering).
+[Component Based Software Engineering](https://en.wikipedia.org/wiki/Component-based_software_engineering).
 
 Any existing middleware for robotics took this approach either informally or formally,
 being [ROS](http://www.ros.org), [YARP](http://www.yarp.it) and 
diff --git a/docs/tutorial_06_subtree_ports.md b/docs/tutorial_06_subtree_ports.md
@@ -16,17 +16,14 @@ remapping is done entirely in the XML definition.
 
 Let's consider this Beahavior Tree.
 
-```XML hl_lines="8 9"
+```XML hl_lines="7"
 <root main_tree_to_execute = "MainTree">
 
     <BehaviorTree ID="MainTree">
 
         <Sequence name="main_sequence">
             <SetBlackboard output_key="move_goal" value="1;2;3" />
-            <SubTree ID="MoveRobot">
-                <remap internal="target" external="move_goal"/>
-                <remap internal="output" external="move_result"/>
-            </SubTree>
+            <SubTree ID="MoveRobot" target="move_goal" output="move_result" />
             <SaySomething message="{move_result}"/>
         </Sequence>
 
diff --git a/src/xml_parsing.cpp b/src/xml_parsing.cpp
@@ -324,10 +324,12 @@ void VerifyXML(const std::string& xml_text,
             for (auto child = node->FirstChildElement(); child != nullptr;
                  child = child->NextSiblingElement())
             {
-                if( StrEqual(child->Name(), "remap") == false)
+                if( StrEqual(child->Name(), "remap") )
                 {
-                   ThrowError(node->GetLineNum(),
-                                       "<SubTree> accept only childs of type <remap>");
+                   ThrowError(node->GetLineNum(), "<remap> was deprecated");
+                }
+                else{
+                    ThrowError(node->GetLineNum(), "<SubTree> should not have any child");
                 }
             }
 
@@ -614,13 +616,6 @@ void BT::XMLParser::Pimpl::recursivelyCreateTree(const std::string& tree_ID,
         {
             auto new_bb = Blackboard::create(blackboard);
 
-            for (auto remap_el = element->FirstChildElement("remap"); remap_el != nullptr;
-                 remap_el = remap_el->NextSiblingElement("remap"))
-            {
-                new_bb->addSubtreeRemapping( remap_el->Attribute("internal"),
-                                             remap_el->Attribute("external") );
-            }
-
             for (const XMLAttribute* attr = element->FirstAttribute(); attr != nullptr; attr = attr->Next())
             {
                 new_bb->addSubtreeRemapping( attr->Name(), attr->Value() );

Original file line number	Diff line number	Diff line change
`@@ -324,10 +324,12 @@ void VerifyXML(const std::string& xml_text,`
`324`	`324`	`for (auto child = node->FirstChildElement(); child != nullptr;`
`325`	`325`	`child = child->NextSiblingElement())`
`326`	`326`	`{`
`327`		`- if( StrEqual(child->Name(), "remap") == false)`
	`327`	`+ if( StrEqual(child->Name(), "remap") )`
`328`	`328`	`{`
`329`		`- ThrowError(node->GetLineNum(),`
`330`		`- "<SubTree> accept only childs of type <remap>");`
	`329`	`+ ThrowError(node->GetLineNum(), "<remap> was deprecated");`
	`330`	`+ }`
	`331`	`+ else{`
	`332`	`+ ThrowError(node->GetLineNum(), "<SubTree> should not have any child");`
`331`	`333`	`}`
`332`	`334`	`}`
`333`	`335`
`@@ -614,13 +616,6 @@ void BT::XMLParser::Pimpl::recursivelyCreateTree(const std::string& tree_ID,`
`614`	`616`	`{`
`615`	`617`	`auto new_bb = Blackboard::create(blackboard);`
`616`	`618`
`617`		`- for (auto remap_el = element->FirstChildElement("remap"); remap_el != nullptr;`
`618`		`- remap_el = remap_el->NextSiblingElement("remap"))`
`619`		`- {`
`620`		`- new_bb->addSubtreeRemapping( remap_el->Attribute("internal"),`
`621`		`- remap_el->Attribute("external") );`
`622`		`- }`
`623`		`-`
`624`	`619`	`for (const XMLAttribute* attr = element->FirstAttribute(); attr != nullptr; attr = attr->Next())`
`625`	`620`	`{`
`626`	`621`	`new_bb->addSubtreeRemapping( attr->Name(), attr->Value() );`