fix issue #433

Author: facontidavide

src/blackboard.cpp

@@ -12,6 +12,7 @@ void Blackboard::setPortInfo(std::string key, const PortInfo& info)
         if( remapping_it != internal_to_external_.end())
         {
             parent->setPortInfo( remapping_it->second, info );
+            return;
         }
     }
 
@@ -25,15 +26,25 @@ void Blackboard::setPortInfo(std::string key, const PortInfo& info)
         if( old_type && old_type != info.type() )
         {
             throw LogicError( "Blackboard::set() failed: once declared, the type of a port shall not change. "
-                             "Declared type [",     BT::demangle( old_type ),
-                             "] != current type [", BT::demangle( info.type() ), "]" );
+                             "Previously declared type [", BT::demangle( old_type ),
+                             "] != new type [", BT::demangle( info.type() ), "]" );
         }
     }
 }
 
 const PortInfo* Blackboard::portInfo(const std::string &key)
 {
     std::unique_lock<std::mutex> lock(mutex_);
+
+    if( auto parent = parent_bb_.lock())
+    {
+        auto remapping_it = internal_to_external_.find(key);
+        if( remapping_it != internal_to_external_.end())
+        {
+            return parent->portInfo( remapping_it->second );
+        }
+    }
+
     auto it = storage_.find(key);
     if( it == storage_.end() )
     {

tests/gtest_subtree.cpp

@@ -275,5 +275,41 @@ TEST(SubTree, SubtreePlusD)
     ASSERT_EQ(ret, BT::NodeStatus::SUCCESS);
 }
 
+TEST(SubTree, SubtreeIssue433)
+{
+    BT::NodeConfiguration config;
+    config.blackboard = BT::Blackboard::create();
+    static const char* xml_text = R"(
+
+<root main_tree_to_execute = "TestTree" >
+    <BehaviorTree ID="Subtree1">
+        <Decorator ID="Repeat" num_cycles="{port_to_use}">
+            <Action ID="AlwaysSuccess"/>
+        </Decorator>
+    </BehaviorTree>
+
+    <BehaviorTree ID="Subtree2">
+        <Action ID="SetBlackboard" output_key="test_port" value="{port_to_read}"/>
+    </BehaviorTree>
+
+    <BehaviorTree ID="TestTree">
+        <Sequence>
+            <Action ID="SetBlackboard" output_key="test_port" value="1"/>
+            <SubTree ID="Subtree1" port_to_use="test_port"/>
+            <SubTree ID="Subtree2" port_to_read="test_port"/>
+        </Sequence>
+    </BehaviorTree>
+</root> )";
+
+    BT::BehaviorTreeFactory factory;
+
+    BT::Tree tree = factory.createTreeFromText(xml_text, config.blackboard);
+    auto ret = tree.tickRoot();
+
+    ASSERT_EQ(ret, BT::NodeStatus::SUCCESS);
+}
+
+
+