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Allow a custom "__type" name in the JsonExporter lambda converters - #1255
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The addConverter() overloads that take a user lambda always wrote and registered BT::demangle(typeid(T)) as the JSON "__type", e.g. "geometry_msgs::msg::Pose_<std::allocator<void> >". addConverter<T>() and BT_JSON_CONVERTER already let the user choose the name, but the lambda overloads did not, so such JSON was verbose, compiler-specific, and could not use language-neutral type names. Add an optional trailing type_name parameter (empty keeps the demangled name). The to_json overload writes it in "__type", the from_json overload registers it in the type-name lookup used by fromJson(), in addition to the demangled name, so existing JSON keeps working. A to_json overload taking only (lambda, const char*) forwards with add_type = true; without it, addConverter<T>(f, "Name") would silently convert the string literal to bool add_type. Fixes #877 Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
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Fixes #877.
The
addConverter()overloads that take a user lambda always usedBT::demangle(typeid(T))as the JSON"__type", e.g.geometry_msgs::msg::Pose_<std::allocator<void> >. That name is verbose and compiler-specific.addConverter<T>()andBT_JSON_CONVERTERalready let you choose the name.type_nameparameter on both lambda overloads; empty keeps the demangled name."__type". The from_json overload registers it forfromJson()in addition to the demangled name, so existing JSON keeps working.(lambda, const char*)to_json overload forwards withadd_type = true. Without it,addConverter<T>(f, "Name")would silently convert the literal tobool add_type.API: new defaulted parameters on inline templates plus one new inline overload. Source compatible, no ABI impact.
Test:
JsonTest.CustomTypeName.🤖 Generated with Claude Code