TreeNode::setOutput doesn't consider BT::AnyTypeAllowed when checking for variant port type

[robin-mueller]

I would like to change this line to also consider BT::AnyTypeAllowed. This would allow the user to correctly allow all types for a specific port.

When using BT::Any instead, the BT::TypeInfo of the port defines the functor for converting from string like here. This essentially breaks the scripting language because BT::convertFromString<BT::Any>() is illegal but will be called internally when a script is evaluated for a variable associated with a BT::Any port (This association is defined during tree initialization to validate types).

Therefore, I suggest to replace

if constexpr(std::is_same_v<BT::Any, T>)
{
  if(config().manifest->ports.at(key).type() != typeid(BT::Any))
  {
    throw LogicError("setOutput<Any> is not allowed, unless the port "
                     "was declared using OutputPort<Any>");
  }
}

with this

if constexpr(std::is_same_v<BT::Any, T>)
{
  const std::type_index type = config().manifest->ports.at(key).type();
  if(type != typeid(BT::Any) && type != typeid(BT::AnyTypeAllowed))
  {
    throw LogicError("setOutput<BT::Any> is not allowed, unless the port "
                     "was declared using OutputPort<BT::Any> or "
                     "OutputPort<BT::AnyTypeAllowed>");
  }
}

from here.

It would be nice if what I'm trying to do here would be possible with BT::Any alone but I guess this requires to dig deep in the type validation and scripting logic.

[facontidavide]

thanks. i will apply this change