Cmake fix. Address some of the concerns of #9 and #10 (#11)

* fix travis
* better installation with renamed directories

Author: facontidavide

.travis.yml

@@ -39,7 +39,7 @@ before_script:
   - mkdir -p build
 
 script:
-  - if [ "$ROS_DISTRO"  = "none" ]; then (cd build; cmake .. ;cmake --build .; ./bin/behavior_tree_core_test); fi
+  - if [ "$ROS_DISTRO"  = "none" ]; then (cd build; cmake .. ;cmake --build .; ./bin/behaviortree_cpp_test); fi
   - if [ "$ROS_DISTRO" != "none" ]; then (.ci_config/travis.sh); fi
 
 

3rdparty/minitrace/minitrace.cpp

@@ -126,15 +126,15 @@ int64_t mtr_time_usec()
 {
   static int64_t prev = 0;
 	struct timeval tv;
-	gettimeofday(&tv, NULL);
+    gettimeofday(&tv, nullptr);
   int64_t now = 1000000*tv.tv_sec + tv.tv_usec;
   if( now <= prev) now = prev + 1;
   prev = now;
   return now;
 }
 #endif	// !BLACKBERRY
 
-static void termination_handler(int signum) {
+static void termination_handler(int ) {
 	if (is_tracing) {
 		printf("Ctrl-C detected! Flushing trace and shutting down.\n\n");
 		mtr_flush();

3rdparty/tinyXML2/tinyxml2.h

@@ -65,10 +65,11 @@ distribution.
 #endif
 
 // Do NOT export. This version is meant to be linked statically only.
-#define TINYXML2_LIB
-
-
-
+#ifdef _WIN32
+#   define TINYXML2_LIB // TODO?
+#else
+#   define TINYXML2_LIB __attribute__((visibility("hidden")))
+#endif
 
 #if defined(TINYXML2_DEBUG)
 #   if defined(_MSC_VER)

CMakeLists.txt

@@ -1,17 +1,44 @@
-cmake_minimum_required(VERSION 2.8)
-project(behavior_tree_core)
+cmake_minimum_required(VERSION 2.8.12) # version on Ubuntu Trusty
+project(behaviortree_cpp)
+
+if(NOT CMAKE_VERSION VERSION_LESS 3.1)
+    set(CMAKE_CXX_STANDARD 11)
+    set(CMAKE_CXX_STANDARD_REQUIRED ON)
+else()
+    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
+endif()
+
+set(CMAKE_POSITION_INDEPENDENT_CODE ON)
 
-set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -pthread -Werror=return-type -Wall -Wpedantic -Wattributes")
-set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH}  "${CMAKE_CURRENT_LIST_DIR}/cmake")
+
+set(CMAKE_CONFIG_PATH ${CMAKE_MODULE_PATH}  "${CMAKE_CURRENT_LIST_DIR}/cmake")
+list(APPEND CMAKE_MODULE_PATH "${CMAKE_CONFIG_PATH}")
 
 option(BUILD_EXAMPLES   "Build tutorials and examples" ON)
 option(BUILD_UNIT_TESTS "Build the unit tests" ON)
 
 #############################################################
-# http://answers.ros.org/question/230877/optionally-build-a-package-with-catkin/
-#
-# This variable MUST NOT be set manually by the user, it will be detected
-# automatically if you compile using catkin
+# Find packages
+find_package(Threads REQUIRED)
+find_package(ZMQ)
+find_package(GTest)
+
+list(APPEND BEHAVIOR_TREE_EXTERNAL_LIBRARIES ${CMAKE_THREAD_LIBS_INIT} ${CMAKE_DL_LIBS})
+
+if( ZMQ_FOUND )
+    message(STATUS "ZeroMQ found.")
+    add_definitions( -DZMQ_FOUND )
+    list(APPEND BT_SOURCE src/loggers/bt_zmq_publisher.cpp)
+    list(APPEND BEHAVIOR_TREE_EXTERNAL_LIBRARIES zmq)
+else()
+    message(WARNING "ZeroMQ NOT found. Skipping the build of [PublisherZMQ] and [bt_recorder].")
+endif()
+
+if(NOT GTEST_FOUND)
+    message(WARNING " GTest not found!")
+endif(NOT GTEST_FOUND)
+
+
 if( CATKIN_DEVEL_PREFIX OR CATKIN_BUILD_BINARY_PACKAGE)
     set(catkin_FOUND 1)
     add_definitions( -DUSING_ROS )
@@ -26,119 +53,131 @@ if(catkin_FOUND)
 
   catkin_package(
     INCLUDE_DIRS include # do not include "3rdparty" here
-    LIBRARIES behavior_tree_core
+    LIBRARIES ${PROJECT_NAME}
     )
 
-else(catkin_FOUND)
+else()
 
     set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/bin)
     set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/bin)
     set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/bin)
 
-    find_package(GTest)
-    include_directories(${GTEST_INCLUDE_DIRS})
-    if(NOT GTEST_FOUND)
-        message(WARNING " GTest not found!")
-    endif(NOT GTEST_FOUND)
-
-endif(catkin_FOUND)
-
-
-set(BT_Source
-        src/action_node.cpp
-        src/basic_types.cpp
-        src/decorator_node.cpp
-        src/condition_node.cpp
-        src/control_node.cpp
-        src/exceptions.cpp
-        src/leaf_node.cpp
-        src/tick_engine.cpp
-        src/tree_node.cpp
-        src/bt_factory.cpp
-        src/behavior_tree.cpp
-        src/xml_parsing.cpp
-        src/shared_library.cpp
-        src/shared_library_UNIX.cpp
-
-        src/decorators/inverter_node.cpp
-        src/decorators/repeat_node.cpp
-        src/decorators/retry_node.cpp
-        src/decorators/timeout_node.cpp
-
-        src/controls/parallel_node.cpp
-        src/controls/sequence_node.cpp
-        src/controls/sequence_star_node.cpp
-        src/controls/fallback_node.cpp
-        src/controls/fallback_star_node.cpp
-
-        src/loggers/bt_cout_logger.cpp
-        src/loggers/bt_file_logger.cpp
-        src/loggers/bt_minitrace_logger.cpp
-
-        3rdparty/tinyXML2/tinyxml2.cpp
-        3rdparty/minitrace/minitrace.cpp
-)
-include_directories(include 3rdparty/)
-
-set(BEHAVIOR_TREE_LIBRARIES behavior_tree_core)
+endif()
 
-find_package(ZMQ)
+#############################################################
+# LIBRARY
 
-if( ZMQ_FOUND )
-    message(STATUS "ZeroMQ found.")
-    add_definitions( -DZMQ_FOUND )
-    set(BT_Source ${BT_Source} src/loggers/bt_zmq_publisher.cpp )
+list(APPEND BT_SOURCE
+    src/action_node.cpp
+    src/basic_types.cpp
+    src/decorator_node.cpp
+    src/condition_node.cpp
+    src/control_node.cpp
+    src/exceptions.cpp
+    src/leaf_node.cpp
+    src/tick_engine.cpp
+    src/tree_node.cpp
+    src/bt_factory.cpp
+    src/behavior_tree.cpp
+    src/xml_parsing.cpp
+    src/shared_library.cpp
+    src/shared_library_UNIX.cpp
+
+    src/decorators/inverter_node.cpp
+    src/decorators/repeat_node.cpp
+    src/decorators/retry_node.cpp
+    src/decorators/timeout_node.cpp
+
+    src/controls/parallel_node.cpp
+    src/controls/sequence_node.cpp
+    src/controls/sequence_star_node.cpp
+    src/controls/fallback_node.cpp
+    src/controls/fallback_star_node.cpp
+
+    src/loggers/bt_cout_logger.cpp
+    src/loggers/bt_file_logger.cpp
+    src/loggers/bt_minitrace_logger.cpp
+
+    3rdparty/tinyXML2/tinyxml2.cpp
+    3rdparty/minitrace/minitrace.cpp
+    )
+
+set(BEHAVIOR_TREE_LIBRARY ${PROJECT_NAME})
 
-    set(BEHAVIOR_TREE_LIBRARIES ${BEHAVIOR_TREE_LIBRARIES} zmq)
+add_library(${BEHAVIOR_TREE_LIBRARY} ${BT_SOURCE} )
+target_link_libraries(${BEHAVIOR_TREE_LIBRARY}  ${BEHAVIOR_TREE_EXTERNAL_LIBRARIES} ${catkin_LIBRARIES})
+target_include_directories(${BEHAVIOR_TREE_LIBRARY} PUBLIC include 3rdparty ${catkin_INCLUDE_DIRS})
+
+if(MSVC)
+  target_compile_options(${BEHAVIOR_TREE_LIBRARY} PRIVATE /W4 /WX)
 else()
-    message(WARNING "ZeroMQ NOT found. Skipping the build of [PublisherZMQ] and [bt_recorder].")
+  target_compile_options(${BEHAVIOR_TREE_LIBRARY} PRIVATE -Wall -Wextra -Werror=return-type)
 endif()
 
 ######################################################
-# LIBRARY
+# TESTS
+
+list(APPEND BT_TESTS
+    gtest/src/action_test_node.cpp
+    gtest/src/condition_test_node.cpp
+    gtest/gtest_tree.cpp
+    gtest/gtest_sequence.cpp
+    gtest/gtest_parallel.cpp
+    gtest/gtest_fallback.cpp
+    gtest/gtest_factory.cpp
+    gtest/gtest_decorator.cpp
+    )
+
+if(catkin_FOUND AND CATKIN_ENABLE_TESTING)
+
+    catkin_add_gtest(${BEHAVIOR_TREE_LIBRARY}_test ${BT_TESTS})
+    target_link_libraries(${BEHAVIOR_TREE_LIBRARY}_test ${BEHAVIOR_TREE_LIBRARY}
+                                                        crossdoor_nodes
+                                                        ${catkin_LIBRARIES})
+    target_include_directories(${BEHAVIOR_TREE_LIBRARY}_test PRIVATE gtest/include)
+
+elseif(GTEST_FOUND AND BUILD_UNIT_TESTS)
+
+    enable_testing()
+
+    add_executable(${BEHAVIOR_TREE_LIBRARY}_test ${BT_TESTS})
+    target_link_libraries(${PROJECT_NAME}_test ${BEHAVIOR_TREE_LIBRARY}
+                                                crossdoor_nodes
+                                                ${GTEST_LIBRARIES}
+                                                ${GTEST_MAIN_LIBRARIES})
+    target_include_directories(${BEHAVIOR_TREE_LIBRARY}_test PRIVATE gtest/include ${GTEST_INCLUDE_DIRS})
+
+    add_test(BehaviorTreeCoreTest ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/${BEHAVIOR_TREE_LIBRARY}_test)
+endif()
+
 ######################################################
-add_library(behavior_tree_core STATIC ${BT_Source} )
-target_compile_options(behavior_tree_core PRIVATE "-fPIC")
-target_link_libraries(behavior_tree_core dl)
+# INSTALL
+if(catkin_FOUND)
+    set( BEHAVIOR_TREE_LIB_DESTINATION   ${CATKIN_PACKAGE_LIB_DESTINATION} )
+    set( BEHAVIOR_TREE_INC_DESTINATION   ${CATKIN_GLOBAL_INCLUDE_DESTINATION} )
+    set( BEHAVIOR_TREE_BIN_DESTINATION   ${CATKIN_PACKAGE_BIN_DESTINATION} )
+else()
+    set( BEHAVIOR_TREE_LIB_DESTINATION   lib )
+    set( BEHAVIOR_TREE_INC_DESTINATION   include )
+    set( BEHAVIOR_TREE_BIN_DESTINATION   bin )
+endif()
+
+INSTALL(TARGETS ${BEHAVIOR_TREE_LIBRARY}
+    ARCHIVE DESTINATION ${BEHAVIOR_TREE_LIB_DESTINATION}
+    LIBRARY DESTINATION ${BEHAVIOR_TREE_LIB_DESTINATION}
+    )
+
+INSTALL( DIRECTORY ${CMAKE_SOURCE_DIR}/include/
+    DESTINATION ${BEHAVIOR_TREE_INC_DESTINATION}
+    FILES_MATCHING PATTERN "*.h*")
 
 ######################################################
 # EXAMPLES and TOOLS
-######################################################
+
 if( BUILD_EXAMPLES )
     add_subdirectory(tools)
     add_subdirectory(sample_nodes)
     add_subdirectory(examples)
 endif()
-######################################################
-# TESTS
-######################################################
-set(BT_Tests
-        gtest/src/action_test_node.cpp
-        gtest/src/condition_test_node.cpp
-        gtest/gtest_tree.cpp
-        gtest/gtest_sequence.cpp
-        gtest/gtest_parallel.cpp
-        gtest/gtest_fallback.cpp
-        gtest/gtest_factory.cpp
-        gtest/gtest_decorator.cpp
-)
-
-if(catkin_FOUND AND CATKIN_ENABLE_TESTING)
-    include_directories(gtest/include)
 
-    catkin_add_gtest(behavior_tree_core_test ${BT_Tests} )
-    target_link_libraries(behavior_tree_core_test
-        ${BEHAVIOR_TREE_LIBRARIES} crossdoor_nodes
-        ${catkin_LIBRARIES} )
 
-elseif(GTEST_FOUND AND BUILD_UNIT_TESTS)
-    include_directories(gtest/include)
-
-    add_executable(behavior_tree_core_test ${BT_Tests} )
-    target_link_libraries(behavior_tree_core_test
-        ${BEHAVIOR_TREE_LIBRARIES} crossdoor_nodes
-        ${GTEST_LIBRARIES}
-        ${GTEST_MAIN_LIBRARIES}
-        )
-
-endif()

docs/tutorial_A_create_trees.md

@@ -187,7 +187,7 @@ The attribute "name" represents the name of the instance and it is optional.
 
 
 ``` c++
-#include "behavior_tree_core/xml_parsing.h"
+#include "behaviortree_cpp/xml_parsing.h"
 #include "Blackboard/blackboard_local.h"
 #include "dummy_nodes.h"
 

docs/tutorial_E_plugins.md

@@ -53,7 +53,7 @@ The [first tutorial](tutorial_A_create_trees.md) becomes, as a result, much simp
 
 
 ```c++ hl_lines="3 25"
-#include "behavior_tree_core/xml_parsing.h"
+#include "behaviortree_cpp/xml_parsing.h"
 #include "Blackboard/blackboard_local.h"
 // #include "dummy_nodes.h" YOU DON'T NEED THIS ANYMORE
 

docs/tutorial_F_loggers.md

@@ -10,13 +10,13 @@ We can attach multiple loggers to a tree.
 To do this, we pass the root of the tree. 
 
 ```c++ hl_lines="21 22 23 25"
-#include "behavior_tree_core/xml_parsing.h"
-#include "behavior_tree_logger/bt_cout_logger.h"
-#include "behavior_tree_logger/bt_minitrace_logger.h"
-#include "behavior_tree_logger/bt_file_logger.h"
+#include "behaviortree_cpp/xml_parsing.h"
+#include "behaviortree_cpp/loggers/bt_cout_logger.h"
+#include "behaviortree_cpp/loggers/bt_minitrace_logger.h"
+#include "behaviortree_cpp/loggers/bt_file_logger.h"
 
 #ifdef ZMQ_FOUND
-#include "behavior_tree_logger/bt_zmq_publisher.h"
+#include "behaviortree_cpp/loggers/bt_zmq_publisher.h"
 #endif
 
 using namespace BT;

examples/CMakeLists.txt

@@ -1,29 +1,27 @@
 cmake_minimum_required(VERSION 2.8)
 
 
-include_directories( ../include ../sample_nodes )
-
 # This tutorial demonstrates how to compile statically a tree (no factory)
 add_executable(t01_programmatic_tree         t01_programmatic_tree.cpp )
-target_link_libraries(t01_programmatic_tree  dummy_nodes ${BEHAVIOR_TREE_LIBRARIES} )
+target_link_libraries(t01_programmatic_tree  dummy_nodes ${BEHAVIOR_TREE_LIBRARY}  )
 
 # The plugin libdummy_nodes.so can be linked statically or
 # loaded dynamically at run-time.
 add_executable(t02_factory_static  t02_factory_tree.cpp )
 target_compile_definitions(t02_factory_static PRIVATE "MANUAL_STATIC_LINKING")
-target_link_libraries(t02_factory_static ${BEHAVIOR_TREE_LIBRARIES}  dummy_nodes )
+target_link_libraries(t02_factory_static ${BEHAVIOR_TREE_LIBRARY}   dummy_nodes )
 
 add_executable(t02_factory_dynamic  t02_factory_tree.cpp )
-target_link_libraries(t02_factory_dynamic ${BEHAVIOR_TREE_LIBRARIES} )
+target_link_libraries(t02_factory_dynamic ${BEHAVIOR_TREE_LIBRARY}  )
 
 
 # This tutorial shows how the difference between Sequence and SequenceStar
 add_executable(t03_sequence_star        t03_sequence_star.cpp )
-target_link_libraries(t03_sequence_star movebase_node dummy_nodes ${BEHAVIOR_TREE_LIBRARIES} )
+target_link_libraries(t03_sequence_star movebase_node dummy_nodes ${BEHAVIOR_TREE_LIBRARY}  )
 
 # This tutorial demonstrates how to use blackboards and NodeParameters
 add_executable(t04_blackboard         t04_blackboard.cpp )
-target_link_libraries(t04_blackboard  movebase_node ${BEHAVIOR_TREE_LIBRARIES} )
+target_link_libraries(t04_blackboard  movebase_node ${BEHAVIOR_TREE_LIBRARY}  )
 
 add_executable(t05_crossdoor         t05_crossdoor.cpp )
-target_link_libraries(t05_crossdoor  crossdoor_nodes ${BEHAVIOR_TREE_LIBRARIES} )
+target_link_libraries(t05_crossdoor  crossdoor_nodes ${BEHAVIOR_TREE_LIBRARY}  )