reverting to a better solution

facontidavide · facontidavide · commit eb9f06454414 · 2020-05-14T01:25:20.000+02:00
diff --git a/include/behaviortree_cpp_v3/decorators/subtree_node.h b/include/behaviortree_cpp_v3/decorators/subtree_node.h
@@ -22,31 +22,19 @@ class SubtreeNode : public DecoratorNode
   private:
     virtual BT::NodeStatus tick() override;
 
+    static PortsList providedPorts()
+    {
+        return { InputPort<bool>("__shared_blackboard", false,
+                                 "If false (default) the subtree has its own blackboard and you"
+                                 "need to do port remapping to connect it to the parent") };
+    }
+
     virtual NodeType type() const override final
     {
         return NodeType::SUBTREE;
     }
 };
 
-/**
- * @brief Subtree that doesn't need any remapping.
- * Its blackboard is shared with the parent node
- */
-class RemappedSubtreeNode : public DecoratorNode
-{
-public:
-  RemappedSubtreeNode(const std::string& name);
-
-  virtual ~RemappedSubtreeNode() override = default;
-
-private:
-  virtual BT::NodeStatus tick() override;
-
-  virtual NodeType type() const override final
-  {
-    return NodeType::SUBTREE;
-  }
-};
 
 
 /**
@@ -99,6 +87,12 @@ class SubtreePlusNode : public DecoratorNode
 private:
   virtual BT::NodeStatus tick() override;
 
+  static PortsList providedPorts()
+  {
+      return { InputPort<bool>("__autoremap", false,
+                               "If true, all the ports with the same name will be remapped") };
+  }
+
   virtual NodeType type() const override final
   {
     return NodeType::SUBTREE;
diff --git a/src/bt_factory.cpp b/src/bt_factory.cpp
@@ -44,7 +44,6 @@ BehaviorTreeFactory::BehaviorTreeFactory()
 
     registerNodeType<SubtreeNode>("SubTree");
     registerNodeType<SubtreePlusNode>("SubTreePlus");
-    registerNodeType<RemappedSubtreeNode>("RemappedSubTree");
 
     registerNodeType<BlackboardPreconditionNode<int>>("BlackboardCheckInt");
     registerNodeType<BlackboardPreconditionNode<double>>("BlackboardCheckDouble");
diff --git a/src/decorators/subtree_node.cpp b/src/decorators/subtree_node.cpp
@@ -17,22 +17,6 @@ BT::NodeStatus BT::SubtreeNode::tick()
     return child_node_->executeTick();
 }
 
-//--------------------------------
-BT::RemappedSubtreeNode::RemappedSubtreeNode(const std::string &name) :
-  DecoratorNode(name, {} )
-{
-  setRegistrationID("RemappedSubtree");
-}
-
-BT::NodeStatus BT::RemappedSubtreeNode::tick()
-{
-  NodeStatus prev_status = status();
-  if (prev_status == NodeStatus::IDLE)
-  {
-    setStatus(NodeStatus::RUNNING);
-  }
-  return child_node_->executeTick();
-}
 
 //--------------------------------
 BT::SubtreePlusNode::SubtreePlusNode(const std::string &name) :
diff --git a/src/xml_parsing.cpp b/src/xml_parsing.cpp
@@ -465,8 +465,7 @@ TreeNode::Ptr XMLParser::Pimpl::createNodeFromXML(const XMLElement *element,
     PortsRemapping port_remap;
 
     if (element_name == "SubTree" ||
-        element_name == "SubTreePlus" ||
-        element_name == "RemappedSubTree")
+        element_name == "SubTreePlus" )
     {
         instance_name = element->Attribute("ID");
     }
@@ -611,13 +610,25 @@ void BT::XMLParser::Pimpl::recursivelyCreateTree(const std::string& tree_ID,
 
         if( node->type() == NodeType::SUBTREE )
         {
-            if( dynamic_cast<const RemappedSubtreeNode*>(node.get()) )
+            if( dynamic_cast<const SubtreeNode*>(node.get()) )
             {
-                recursivelyCreateTree( node->name(), output_tree, blackboard, node );
-            }
-            else if( dynamic_cast<const SubtreeNode*>(node.get()) )
-            {
-                // This is the former SubTree with manual remapping
+                bool is_isolated = true;
+
+                for (const XMLAttribute* attr = element->FirstAttribute(); attr != nullptr; attr = attr->Next())
+                {
+                    if( strcmp(attr->Name(), "__shared_blackboard") == 0  &&
+                        convertFromString<bool>(attr->Value()) == true )
+                    {
+                        is_isolated = false;
+                    }
+                }
+
+                if( !is_isolated )
+                {
+                    recursivelyCreateTree( node->name(), output_tree, blackboard, node );
+                }
+                else{
+                // Creating an isolated
                 auto new_bb = Blackboard::create(blackboard);
 
                 for (const XMLAttribute* attr = element->FirstAttribute(); attr != nullptr; attr = attr->Next())
@@ -630,6 +641,7 @@ void BT::XMLParser::Pimpl::recursivelyCreateTree(const std::string& tree_ID,
                 }
                 output_tree.blackboard_stack.emplace_back(new_bb);
                 recursivelyCreateTree( node->name(), output_tree, new_bb, node );
+                }
             }
             else if( dynamic_cast<const SubtreePlusNode*>(node.get()) )
             {
