apply changes suggested in #893

facontidavide · facontidavide · commit f58c59bd1d28 · 2025-02-09T21:36:34.000+01:00
diff --git a/include/behaviortree_cpp/tree_node.h b/include/behaviortree_cpp/tree_node.h
@@ -598,7 +598,8 @@ inline Result TreeNode::setOutput(const std::string& key, const T& value)
 
   if constexpr(std::is_same_v<BT::Any, T>)
   {
-    if(config().manifest->ports.at(key).type() != typeid(BT::Any))
+    auto port_type = config().manifest->ports.at(key).type();
+    if(port_type != typeid(BT::Any) && port_type != typeid(BT::AnyTypeAllowed))
     {
       throw LogicError("setOutput<Any> is not allowed, unless the port "
                        "was declared using OutputPort<Any>");

Original file line number	Diff line number	Diff line change
`@@ -598,7 +598,8 @@ inline Result TreeNode::setOutput(const std::string& key, const T& value)`
`598`	`598`
`599`	`599`	`if constexpr(std::is_same_v<BT::Any, T>)`
`600`	`600`	`{`
`601`		`- if(config().manifest->ports.at(key).type() != typeid(BT::Any))`
	`601`	`+ auto port_type = config().manifest->ports.at(key).type();`
	`602`	`+ if(port_type != typeid(BT::Any) && port_type != typeid(BT::AnyTypeAllowed))`
`602`	`603`	`{`
`603`	`604`	`throw LogicError("setOutput<Any> is not allowed, unless the port "`
`604`	`605`	`"was declared using OutputPort<Any>");`