Enable blackboard matching for types sharing a common base class

Author: captain-yoshi

include/behaviortree_cpp/basic_types.h

@@ -350,6 +350,21 @@ class TypeInfo
   template <typename T>
   static TypeInfo Create()
   {
+    // store the base class typeid if specialized
+    if constexpr(is_shared_ptr<T>::value)
+    {
+      using Elem = typename T::element_type;
+      using Base = typename any_cast_base<Elem>::type;
+
+      if constexpr(!std::is_same_v<Base, void>)
+      {
+        static_assert(std::is_polymorphic_v<Base>, "TypeInfo Base trait specialization "
+                                                   "must be "
+                                                   "polymorphic");
+        return TypeInfo{ typeid(std::shared_ptr<Base>),
+                         GetAnyFromStringFunctor<std::shared_ptr<Base>>() };
+      }
+    }
     return TypeInfo{ typeid(T), GetAnyFromStringFunctor<T>() };
   }
 
@@ -452,7 +467,8 @@ template <typename T = AnyTypeAllowed>
   }
   else
   {
-    out = { sname, PortInfo(direction, typeid(T), GetAnyFromStringFunctor<T>()) };
+    auto type_info = TypeInfo::Create<T>();
+    out = { sname, PortInfo(direction, type_info.type(), type_info.converter()) };
   }
   if(!description.empty())
   {
@@ -501,7 +517,6 @@ BidirectionalPort(StringView name, StringView description = {})
 
 namespace details
 {
-
 template <typename T = AnyTypeAllowed, typename DefaultT = T>
 [[nodiscard]] inline std::pair<std::string, PortInfo>
 PortWithDefault(PortDirection direction, StringView name, const DefaultT& default_value,

include/behaviortree_cpp/blackboard.h

@@ -13,7 +13,6 @@
 
 namespace BT
 {
-
 /// This type contains a pointer to Any, protected
 /// with a locked mutex as long as the object is in scope
 using AnyPtrLocked = LockedPtr<Any>;
@@ -257,8 +256,11 @@ inline void Blackboard::set(const std::string& key, const T& value)
 
     std::type_index previous_type = entry.info.type();
 
+    // allow matching if any is of the same base
+    const auto current_type = TypeInfo::Create<T>().type();
+
     // check type mismatch
-    if(previous_type != std::type_index(typeid(T)) && previous_type != new_value.type())
+    if(previous_type != current_type && previous_type != new_value.type())
     {
       bool mismatching = true;
       if(std::is_constructible<StringView, T>::value)