preserve order of ports in PortsList

Author: facontidavide

include/behaviortree_cpp/basic_types.h

@@ -582,7 +582,19 @@ template <typename T = AnyTypeAllowed>
 
 //----------
 
-using PortsList = std::unordered_map<std::string, PortInfo>;
+using PortsList = std::vector<std::pair<std::string, PortInfo>>;
+
+inline const PortInfo* findPortInfo(const PortsList& ports, const std::string& key)
+{
+  for(auto& it : ports)
+  {
+    if(it.first == key)
+    {
+      return &it.second;
+    }
+  }
+  return nullptr;
+}
 
 template <typename T, typename = void>
 struct has_static_method_providedPorts : std::false_type

include/behaviortree_cpp/controls/switch_node.h

@@ -91,11 +91,11 @@ inline PortsList SwitchNode<NUM_CASES>::providedPorts()
 {
   static PortsList provided_ports = []() {
     PortsList ports;
-    ports.insert(BT::InputPort<std::string>("variable"));
+    ports.push_back(BT::InputPort<std::string>("variable"));
     for(unsigned i = 1; i <= NUM_CASES; i++)
     {
       auto key = std::string("case_") + std::to_string(i);
-      ports.insert(BT::InputPort<std::string>(key));
+      ports.push_back(BT::InputPort<std::string>(key));
     }
     return ports;
   }();

include/behaviortree_cpp/tree_node.h

@@ -455,30 +455,29 @@ inline Expected<Timestamp> TreeNode::getInputStamped(const std::string& key,
   else
   {
     // maybe it is declared with a default value in the manifest
-    auto port_manifest_it = config().manifest->ports.find(key);
-    if(port_manifest_it == config().manifest->ports.end())
+    const auto* port_info = findPortInfo(config().manifest->ports, key);
+    if(!port_info)
     {
       return nonstd::make_unexpected(StrCat("getInput() of node '", fullPath(),
                                             "' failed because the manifest doesn't "
                                             "contain the key: [",
                                             key, "]"));
     }
-    const auto& port_info = port_manifest_it->second;
     // there is a default value
-    if(port_info.defaultValue().empty())
+    if(port_info->defaultValue().empty())
     {
       return nonstd::make_unexpected(StrCat("getInput() of node '", fullPath(),
                                             "' failed because nor the manifest or the "
                                             "XML contain the key: [",
                                             key, "]"));
     }
-    if(port_info.defaultValue().isString())
+    if(port_info->defaultValue().isString())
     {
-      port_value_str = port_info.defaultValue().cast<std::string>();
+      port_value_str = port_info->defaultValue().cast<std::string>();
     }
     else
     {
-      destination = port_info.defaultValue().cast<T>();
+      destination = port_info->defaultValue().cast<T>();
       return Timestamp{};
     }
   }
@@ -585,7 +584,8 @@ 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))
+    const auto* port_info = findPortInfo(config().manifest->ports, key);
+    if(port_info && port_info->type() != typeid(BT::Any))
     {
       throw LogicError("setOutput<Any> is not allowed, unless the port "
                        "was declared using OutputPort<Any>");

src/xml_parsing.cpp

@@ -663,31 +663,30 @@ TreeNode::Ptr XMLParser::PImpl::createNodeFromXML(const XMLElement* element,
 
       if(manifest)
       {
-        auto port_model_it = manifest->ports.find(port_name);
-        if(port_model_it == manifest->ports.end())
+        const auto* port_model = findPortInfo(manifest->ports, port_name);
+        if(!port_model)
         {
           throw RuntimeError(StrCat("a port with name [", port_name,
                                     "] is found in the XML, but not in the "
                                     "providedPorts()"));
         }
         else
         {
-          const auto& port_model = port_model_it->second;
           bool is_blacbkboard = port_value.size() >= 3 && port_value.front() == '{' &&
                                 port_value.back() == '}';
           // let's test already if conversion is possible
-          if(!is_blacbkboard && port_model.converter() && port_model.isStronglyTyped())
+          if(!is_blacbkboard && port_model->converter() && port_model->isStronglyTyped())
           {
             // This may throw
             try
             {
-              port_model.converter()(port_value);
+              port_model->converter()(port_value);
             }
             catch(std::exception& ex)
             {
               auto msg = StrCat("The port with name \"", port_name, "\" and value \"",
                                 port_value, "\" can not be converted to ",
-                                port_model.typeName());
+                                port_model->typeName());
               throw LogicError(msg);
             }
           }
@@ -750,7 +749,7 @@ TreeNode::Ptr XMLParser::PImpl::createNodeFromXML(const XMLElement* element,
     //Check that name in remapping can be found in the manifest
     for(const auto& [name_in_subtree, _] : port_remap)
     {
-      if(manifest->ports.count(name_in_subtree) == 0)
+      if(!findPortInfo(manifest->ports, name_in_subtree))
       {
         throw RuntimeError("Possible typo? In the XML, you tried to remap port \"",
                            name_in_subtree, "\" in node [", config.path, "(type ",
@@ -809,10 +808,10 @@ TreeNode::Ptr XMLParser::PImpl::createNodeFromXML(const XMLElement* element,
     for(const auto& remap_it : port_remap)
     {
       const auto& port_name = remap_it.first;
-      auto port_it = manifest->ports.find(port_name);
-      if(port_it != manifest->ports.end())
+      const auto* port_info = findPortInfo(manifest->ports, port_name);
+      if(port_info != nullptr)
       {
-        auto direction = port_it->second.direction();
+        auto direction = port_info->direction();
         if(direction != PortDirection::OUTPUT)
         {
           config.input_ports.insert(remap_it);