fix issue BehaviorTree#748 : static error messages

Author: facontidavide

include/behaviortree_cpp/action_node.h

@@ -75,7 +75,6 @@ class SyncActionNode : public ActionNodeBase
  *
  * Using lambdas or std::bind it is easy to pass a pointer to a method.
  * SimpleActionNode is executed synchronously and does not support halting.
- * NodeParameters aren't supported.
  */
 class SimpleActionNode : public SyncActionNode
 {

include/behaviortree_cpp/bt_factory.h

@@ -358,22 +358,27 @@ class BehaviorTreeFactory
   template <typename T, typename... ExtraArgs>
   void registerNodeType(const std::string& ID, ExtraArgs... args)
   {
-    // check first if the given class is abstract
-    static_assert(!std::is_abstract_v<T>, "The given type can't be abstract");
-
-    constexpr bool param_constructable =
-        std::is_constructible<T, const std::string&, const NodeConfig&, ExtraArgs...>::value;
-    constexpr bool has_static_ports_list = has_static_method_providedPorts<T>::value;
-
-    // clang-format off
-    static_assert(!(param_constructable && !has_static_ports_list),
-                  "[registerNode]: you MUST implement the static method:\n"
-                  "  PortsList providedPorts();\n");
-
-    static_assert(!(has_static_ports_list && !param_constructable),
-                  "[registerNode]: since you have a static method providedPorts(),\n"
-                  "you MUST add a constructor with signature:\n"
-                  "(const std::string&, const NodeParameters&)\n");
+    if constexpr(std::is_abstract_v<T>) {
+      // check first if the given class is abstract
+      static_assert(!std::is_abstract_v<T>, "The Node type can't be abstract. "
+                                            "Did you forget to implement an abstract "
+                                            "method in the derived class?");
+    }
+    else {
+      constexpr bool param_constructable =
+          std::is_constructible<T, const std::string&, const NodeConfig&, ExtraArgs...>::value;
+      constexpr bool has_static_ports_list = has_static_method_providedPorts<T>::value;
+
+      // clang-format off
+      static_assert(!(param_constructable && !has_static_ports_list),
+                    "[registerNode]: you MUST implement the static method:\n"
+                    "  PortsList providedPorts();\n");
+
+      static_assert(!(has_static_ports_list && !param_constructable),
+                    "[registerNode]: since you have a static method providedPorts(),\n"
+                    "you MUST add a constructor with signature:\n"
+                    "(const std::string&, const NodeConfig&)\n");
+    }
     // clang-format on
     registerNodeType<T>(ID, getProvidedPorts<T>(), args...);
   }

include/behaviortree_cpp/condition_node.h

@@ -46,7 +46,6 @@ class ConditionNode : public LeafNode
  * This avoids the hassle of inheriting from a ActionNode.
  *
  * Using lambdas or std::bind it is easy to pass a pointer to a method.
- * SimpleConditionNode does not support halting, NodeParameters, nor Blackboards.
  */
 class SimpleConditionNode : public ConditionNode
 {

include/behaviortree_cpp/decorator_node.h

@@ -48,7 +48,6 @@ class DecoratorNode : public TreeNode
  * This avoids the hassle of inheriting from a DecoratorNode.
  *
  * Using lambdas or std::bind it is easy to pass a pointer to a method.
- * SimpleDecoratorNode does not support halting, NodeParameters, nor Blackboards.
  */
 class SimpleDecoratorNode : public DecoratorNode
 {

src/xml_parsing.cpp

@@ -711,7 +711,7 @@ TreeNode::Ptr XMLParser::PImpl::createNodeFromXML(const XMLElement* element,
       {
         throw RuntimeError("Possible typo? In the XML, you tried to remap port \"",
                            name_in_subtree, "\" in node [", config.path, "(type ", type_ID,
-                           ")], but the manifest of this node does not contain a port "
+                           ")], but the manifest/model of this node does not contain a port "
                            "with this name.");
       }
     }

tools/bt_plugin_manifest.cpp

@@ -33,7 +33,7 @@ int main(int argc, char* argv[])
         auto& params = manifest.ports;
         std::cout << "---------------\n"
                   << manifest.registration_ID << " [" << manifest.type
-                  << "]\n  NodeParameters: " << params.size();
+                  << "]\n  NodeConfig: " << params.size();
 
         if (params.size() > 0)
         {