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facontidavidefacontidavide
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fix compilation errors
1 parent 17de2a8 commit 762e6d9

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5 files changed

+37
-39
lines changed

5 files changed

+37
-39
lines changed

‎CMakeLists.txt

Lines changed: 18 additions & 21 deletions
Original file line numberDiff line numberDiff line change
@@ -21,16 +21,9 @@ set(CMAKE_POSITION_INDEPENDENT_CODE ON)
2121
option(BTCPP_SHARED_LIBS "Build shared libraries" ON)
2222
option(BTCPP_ENABLE_COROUTINES "Enable boost coroutines" ON)
2323
option(BTCPP_MANUAL_SELECTOR "Build manual selector node" ON)
24-
25-
if(${CMAKE_SOURCE_DIR} STREQUAL ${CMAKE_CURRENT_SOURCE_DIR} )
26-
option(BTCPP_EXAMPLES "Build tutorials and examples" ON)
27-
option(BTCPP_UNIT_TESTS "Build the unit tests" ON)
28-
option(BTCPP_BUILD_TOOLS "Build commandline tools" ON)
29-
else()
30-
option(BTCPP_EXAMPLES "Build tutorials and examples" OFF)
31-
option(BTCPP_UNIT_TESTS "Build the unit tests" OFF)
32-
option(BTCPP_BUILD_TOOLS "Build commandline tools" OFF)
33-
endif()
24+
option(BTCPP_BUILD_TOOLS "Build commandline tools" ON)
25+
option(BTCPP_EXAMPLES "Build tutorials and examples" ON)
26+
option(BTCPP_UNIT_TESTS "Build the unit tests" ON)
3427

3528
option(USE_V3_COMPATIBLE_NAMES "Use some alias to compile more easily old 3.x code" OFF)
3629

@@ -221,24 +214,28 @@ target_link_libraries(${BEHAVIOR_TREE_LIBRARY}
221214
PUBLIC
222215
${BEHAVIOR_TREE_PUBLIC_LIBRARIES}
223216
PRIVATE
224-
$<BUILD_INTERFACE:Boost::coroutine>
225217
$<BUILD_INTERFACE:${ZMQ_LIBRARIES}>
226218
$<BUILD_INTERFACE:foonathan::lexy>
227219
)
228220

229-
target_compile_definitions(${BEHAVIOR_TREE_LIBRARY} PRIVATE $<$<CONFIG:Debug>:TINYXML2_DEBUG>)
230-
231-
target_include_directories(${BEHAVIOR_TREE_LIBRARY} PUBLIC
232-
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
233-
$<INSTALL_INTERFACE:include>
221+
target_include_directories(${BEHAVIOR_TREE_LIBRARY}
222+
PUBLIC
223+
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
224+
$<INSTALL_INTERFACE:include>
225+
PRIVATE
226+
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/3rdparty>
227+
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/3rdparty/lexy/include>
228+
$<BUILD_INTERFACE:${BUILD_TOOL_INCLUDE_DIRS}>
234229
)
235230

231+
if(DEFINED BT_COROUTINES_FOUND)
232+
target_link_libraries(${BEHAVIOR_TREE_LIBRARY} PRIVATE
233+
$<BUILD_INTERFACE:${Boost_LIBRARIES}> )
236234
target_include_directories(${BEHAVIOR_TREE_LIBRARY} PRIVATE
237-
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/3rdparty>
238-
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/3rdparty/lexy/include>
239-
$<BUILD_INTERFACE:${BUILD_TOOL_INCLUDE_DIRS}>
240-
$<BUILD_INTERFACE:${Boost_INCLUDE_DIRS}>
241-
)
235+
$<BUILD_INTERFACE:${Boost_INCLUDE_DIRS}> )
236+
endif()
237+
238+
target_compile_definitions(${BEHAVIOR_TREE_LIBRARY} PRIVATE $<$<CONFIG:Debug>:TINYXML2_DEBUG>)
242239

243240
if( ZMQ_FOUND )
244241
target_compile_definitions(${BEHAVIOR_TREE_LIBRARY} PUBLIC ZMQ_FOUND)

‎tests/CMakeLists.txt

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -1,7 +1,7 @@
11
######################################################
22
# TESTS
33

4-
include_directories(include)
4+
include_directories(include ${PROJECT_SOURCE_DIR}/3rdparty)
55

66
set(BT_TESTS
77
src/action_test_node.cpp

‎tests/gtest_switch.cpp

Lines changed: 15 additions & 15 deletions
Original file line numberDiff line numberDiff line change
@@ -44,9 +44,9 @@ struct SwitchTest : testing::Test
4444
BT::NodeConfig simple_switch_config_;
4545

4646
SwitchTest() :
47-
action_1("action_1", milliseconds(100)),
48-
action_42("action_42", milliseconds(100)),
49-
action_def("action_default", milliseconds(100))
47+
action_1("action_1", milliseconds(200)),
48+
action_42("action_42", milliseconds(200)),
49+
action_def("action_default", milliseconds(200))
5050
{
5151
BT::PortsRemapping input;
5252
input.insert(std::make_pair("variable", "{my_var}"));
@@ -78,7 +78,7 @@ TEST_F(SwitchTest, DefaultCase)
7878
ASSERT_EQ(NodeStatus::RUNNING, action_def.status());
7979
ASSERT_EQ(NodeStatus::RUNNING, state);
8080

81-
std::this_thread::sleep_for(milliseconds(110));
81+
std::this_thread::sleep_for(milliseconds(300));
8282
state = root->executeTick();
8383

8484
ASSERT_EQ(NodeStatus::IDLE, action_1.status());
@@ -97,7 +97,7 @@ TEST_F(SwitchTest, Case1)
9797
ASSERT_EQ(NodeStatus::IDLE, action_def.status());
9898
ASSERT_EQ(NodeStatus::RUNNING, state);
9999

100-
std::this_thread::sleep_for(milliseconds(110));
100+
std::this_thread::sleep_for(milliseconds(300));
101101
state = root->executeTick();
102102

103103
ASSERT_EQ(NodeStatus::IDLE, action_1.status());
@@ -116,7 +116,7 @@ TEST_F(SwitchTest, Case2)
116116
ASSERT_EQ(NodeStatus::IDLE, action_def.status());
117117
ASSERT_EQ(NodeStatus::RUNNING, state);
118118

119-
std::this_thread::sleep_for(milliseconds(110));
119+
std::this_thread::sleep_for(milliseconds(300));
120120
state = root->executeTick();
121121

122122
ASSERT_EQ(NodeStatus::IDLE, action_1.status());
@@ -135,7 +135,7 @@ TEST_F(SwitchTest, CaseNone)
135135
ASSERT_EQ(NodeStatus::RUNNING, action_def.status());
136136
ASSERT_EQ(NodeStatus::RUNNING, state);
137137

138-
std::this_thread::sleep_for(milliseconds(110));
138+
std::this_thread::sleep_for(milliseconds(300));
139139
state = root->executeTick();
140140

141141
ASSERT_EQ(NodeStatus::IDLE, action_1.status());
@@ -154,7 +154,7 @@ TEST_F(SwitchTest, CaseSwitchToDefault)
154154
ASSERT_EQ(NodeStatus::IDLE, action_def.status());
155155
ASSERT_EQ(NodeStatus::RUNNING, state);
156156

157-
std::this_thread::sleep_for(milliseconds(10));
157+
std::this_thread::sleep_for(milliseconds(20));
158158
state = root->executeTick();
159159
ASSERT_EQ(NodeStatus::RUNNING, action_1.status());
160160
ASSERT_EQ(NodeStatus::IDLE, action_42.status());
@@ -163,22 +163,22 @@ TEST_F(SwitchTest, CaseSwitchToDefault)
163163

164164
// Switch Node does not feels changes. Only when tick.
165165
// (not reactive)
166-
std::this_thread::sleep_for(milliseconds(10));
166+
std::this_thread::sleep_for(milliseconds(20));
167167
bb->set("my_var", "");
168-
std::this_thread::sleep_for(milliseconds(10));
168+
std::this_thread::sleep_for(milliseconds(20));
169169
ASSERT_EQ(NodeStatus::RUNNING, action_1.status());
170170
ASSERT_EQ(NodeStatus::IDLE, action_42.status());
171171
ASSERT_EQ(NodeStatus::IDLE, action_def.status());
172172
ASSERT_EQ(NodeStatus::RUNNING, root->status());
173173

174-
std::this_thread::sleep_for(milliseconds(10));
174+
std::this_thread::sleep_for(milliseconds(20));
175175
state = root->executeTick();
176176
ASSERT_EQ(NodeStatus::IDLE, action_1.status());
177177
ASSERT_EQ(NodeStatus::IDLE, action_42.status());
178178
ASSERT_EQ(NodeStatus::RUNNING, action_def.status());
179179
ASSERT_EQ(NodeStatus::RUNNING, state);
180180

181-
std::this_thread::sleep_for(milliseconds(110));
181+
std::this_thread::sleep_for(milliseconds(300));
182182
state = root->executeTick();
183183

184184
ASSERT_EQ(NodeStatus::IDLE, action_1.status());
@@ -198,14 +198,14 @@ TEST_F(SwitchTest, CaseSwitchToAction2)
198198
ASSERT_EQ(NodeStatus::RUNNING, state);
199199

200200
bb->set("my_var", "42");
201-
std::this_thread::sleep_for(milliseconds(10));
201+
std::this_thread::sleep_for(milliseconds(20));
202202
state = root->executeTick();
203203
ASSERT_EQ(NodeStatus::IDLE, action_1.status());
204204
ASSERT_EQ(NodeStatus::RUNNING, action_42.status());
205205
ASSERT_EQ(NodeStatus::IDLE, action_def.status());
206206
ASSERT_EQ(NodeStatus::RUNNING, state);
207207

208-
std::this_thread::sleep_for(milliseconds(110));
208+
std::this_thread::sleep_for(milliseconds(300));
209209
state = root->executeTick();
210210

211211
ASSERT_EQ(NodeStatus::IDLE, action_1.status());
@@ -226,7 +226,7 @@ TEST_F(SwitchTest, ActionFailure)
226226
ASSERT_EQ(NodeStatus::IDLE, action_def.status());
227227
ASSERT_EQ(NodeStatus::RUNNING, state);
228228

229-
std::this_thread::sleep_for(milliseconds(110));
229+
std::this_thread::sleep_for(milliseconds(300));
230230
state = root->executeTick();
231231

232232
ASSERT_EQ(NodeStatus::FAILURE, state);

‎tools/CMakeLists.txt

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -1,6 +1,6 @@
11
cmake_minimum_required(VERSION 3.5)
22

3-
include_directories(${CMAKE_SOURCE_DIR}/3rdparty)
3+
include_directories(${PROJECT_SOURCE_DIR}/3rdparty)
44

55
add_executable(bt3_log_cat bt_log_cat.cpp )
66
target_link_libraries(bt3_log_cat ${BEHAVIOR_TREE_LIBRARY} )

‎tools/bt_recorder.cpp

Lines changed: 2 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -62,7 +62,8 @@ int main(int argc, char* argv[])
6262
zmq::message_t msg;
6363
try
6464
{
65-
subscriber.recv(update, zmq::recv_flags::none);
65+
auto ret = subscriber.recv(update, zmq::recv_flags::none);
66+
(void)ret;
6667
}
6768
catch (zmq::error_t& e)
6869
{

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