Add polymorphic shared_ptr port support (Issue #943) #1107
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Enable passing shared_ptr<Derived> to ports expecting shared_ptr<Base> without breaking ABI compatibility. Users register inheritance relationships at runtime via BehaviorTreeFactory::registerPolymorphicCast, and the system handles upcasting/downcasting transparently. Key components: - PolymorphicCastRegistry: thread-safe registry for inheritance relationships with transitive cast support (e.g. Sphynx->Cat->Animal) - BehaviorTreeFactory owns the registry, shares it with Blackboards - Blackboard::tryCastWithPolymorphicFallback: public Expected-returning API used by both Blackboard::get and TreeNode::getInputStamped - XML parser validates port compatibility including polymorphic types - Downcasts allowed at parse-time, checked at runtime via dynamic_pointer_cast Design decisions: - Registry uses shared_mutex for read-heavy workload - Error propagation via nonstd::expected<T, std::string> - No circular includes: safe_any.hpp includes registry directly - All polymorphic tests consolidated in gtest_polymorphic_ports.cpp Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
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Enable passing shared_ptr to ports expecting shared_ptr while preserving ABI and API compatibility.
Implementation:
API: