Fix: registerBuilder did not register the manifest. It was "broken" as public API method

Author: Davide Faconti

include/behaviortree_cpp/bt_factory.h

@@ -52,7 +52,7 @@ class BehaviorTreeFactory
     /** More generic way to register your own builder.
      *  Most of the time you should use registerSimple???? or registerNodeType<> instead.
      */
-    void registerBuilder(const std::string& ID, NodeBuilder builder);
+    void registerBuilder(const TreeNodeManifest& manifest, NodeBuilder builder);
 
     /// Register a SimpleActionNode
     void registerSimpleAction(const std::string& ID,
@@ -128,7 +128,6 @@ class BehaviorTreeFactory
                       "NodeParameters&)\n");
 
         registerNodeTypeImpl<T>(ID);
-        storeNodeManifest<T>(ID);
     }
 
     /// All the builders. Made available mostly for debug purposes.
@@ -166,7 +165,8 @@ class BehaviorTreeFactory
         {
             return std::unique_ptr<TreeNode>(new T(name));
         };
-        registerBuilder(ID, builder);
+        TreeNodeManifest manifest = { NodeType::ACTION, ID, NodeParameters() };
+        registerBuilder(manifest, builder);
     }
 
     template <typename T>
@@ -177,7 +177,8 @@ class BehaviorTreeFactory
         {
             return std::unique_ptr<TreeNode>(new T(name, params));
         };
-        registerBuilder(ID, builder);
+        TreeNodeManifest manifest = { getType<T>(), ID, T::requiredNodeParameters() };
+        registerBuilder(manifest, builder);
     }
 
     template <typename T>
@@ -193,24 +194,8 @@ class BehaviorTreeFactory
             }
             return std::unique_ptr<TreeNode>(new T(name, params));
         };
-        registerBuilder(ID, builder);
-    }
-
-
-    template<typename T>
-    typename std::enable_if< has_static_method_requiredNodeParameters<T>::value>::type
-    storeNodeManifest(const std::string& ID)
-    {
-        manifests_.push_back( { getType<T>(), ID, T::requiredNodeParameters()} );
-        sortTreeNodeManifests();
-    }
-
-    template<typename T>
-    typename std::enable_if< !has_static_method_requiredNodeParameters<T>::value>::type
-    storeNodeManifest(const std::string& ID)
-    {
-        manifests_.push_back( { getType<T>(), ID, NodeParameters()} );
-        sortTreeNodeManifests();
+        TreeNodeManifest manifest = { getType<T>(), ID, T::requiredNodeParameters() };
+        registerBuilder(manifest, builder);
     }
 
     void sortTreeNodeManifests();

include/behaviortree_cpp/xml_parsing.h

@@ -64,7 +64,8 @@ struct Tree
 *
 * return: a pair containing the root node (first) and a vector with all the instantiated nodes (second).
 */
-Tree buildTreeFromText(const BehaviorTreeFactory& factory, const std::string& text,
+Tree buildTreeFromText(const BehaviorTreeFactory& factory,
+                       const std::string& text,
                        const Blackboard::Ptr& blackboard = Blackboard::Ptr());
 
 /** Helper function to do the most common steps all at once:
@@ -74,7 +75,8 @@ Tree buildTreeFromText(const BehaviorTreeFactory& factory, const std::string& te
 *
 * return: a pair containing the root node (first) and a vector with all the instantiated nodes (second).
 */
-Tree buildTreeFromFile(const BehaviorTreeFactory& factory, const std::string& filename,
+Tree buildTreeFromFile(const BehaviorTreeFactory& factory,
+                       const std::string& filename,
                        const Blackboard::Ptr& blackboard = Blackboard::Ptr());
 
 std::string writeXML(const BehaviorTreeFactory& factory, const TreeNode* root_node,

src/bt_factory.cpp

@@ -53,15 +53,17 @@ bool BehaviorTreeFactory::unregisterBuilder(const std::string& ID)
     return true;
 }
 
-void BehaviorTreeFactory::registerBuilder(const std::string& ID, NodeBuilder builder)
+void BehaviorTreeFactory::registerBuilder(const TreeNodeManifest& manifest, NodeBuilder builder)
 {
-    auto it = builders_.find(ID);
+    auto it = builders_.find( manifest.registration_ID);
     if (it != builders_.end())
     {
-        throw BehaviorTreeException("ID '" + ID + "' already registered");
+        throw BehaviorTreeException("ID '" + manifest.registration_ID + "' already registered");
     }
 
-    builders_.insert(std::make_pair(ID, builder));
+    builders_.insert(std::make_pair(manifest.registration_ID, builder));
+    manifests_.push_back(manifest);
+    sortTreeNodeManifests();
 }
 
 void BehaviorTreeFactory::registerSimpleCondition(
@@ -71,8 +73,8 @@ void BehaviorTreeFactory::registerSimpleCondition(
         return std::unique_ptr<TreeNode>(new SimpleConditionNode(name, tick_functor, params));
     };
 
-    registerBuilder(ID, builder);
-    storeNodeManifest<SimpleConditionNode>(ID);
+    TreeNodeManifest manifest = { NodeType::CONDITION, ID, NodeParameters() };
+    registerBuilder(manifest, builder);
 }
 
 void BehaviorTreeFactory::registerSimpleAction(const std::string& ID,
@@ -82,8 +84,8 @@ void BehaviorTreeFactory::registerSimpleAction(const std::string& ID,
         return std::unique_ptr<TreeNode>(new SimpleActionNode(name, tick_functor, params));
     };
 
-    registerBuilder(ID, builder);
-    storeNodeManifest<SimpleActionNode>(ID);
+    TreeNodeManifest manifest = { NodeType::ACTION, ID, NodeParameters() };
+    registerBuilder(manifest, builder);
 }
 
 void BehaviorTreeFactory::registerSimpleDecorator(
@@ -93,8 +95,8 @@ void BehaviorTreeFactory::registerSimpleDecorator(
         return std::unique_ptr<TreeNode>(new SimpleDecoratorNode(name, tick_functor, params));
     };
 
-    registerBuilder(ID, builder);
-    storeNodeManifest<SimpleDecoratorNode>(ID);
+    TreeNodeManifest manifest = { NodeType::DECORATOR, ID, NodeParameters() };
+    registerBuilder(manifest, builder);
 }
 
 void BehaviorTreeFactory::registerFromPlugin(const std::string file_path)