fix compilation and unit tests

Author: facontidavide

CMakeLists.txt

@@ -18,18 +18,19 @@ if(Boost_FOUND)
     include_directories(${Boost_INCLUDE_DIRS})
     message(STATUS "Found boost::coroutine2.")
     add_definitions(-DBT_BOOST_COROUTINE2)
+    set(BT_COROUTINES true)
 else()
    find_package(Boost COMPONENTS coroutine QUIET)
    if(Boost_FOUND)
        message(STATUS "Found boost::coroutine.")
        include_directories(${Boost_INCLUDE_DIRS})
        add_definitions(-DBT_BOOST_COROUTINE)
+       set(BT_COROUTINES true)
    else()
        add_definitions(-DBT_NO_COROUTINES)
    endif()
 endif()
 
-
 set(CMAKE_POSITION_INDEPENDENT_CODE ON)
 
 set(CMAKE_CONFIG_PATH ${CMAKE_MODULE_PATH}  "${CMAKE_CURRENT_LIST_DIR}/cmake")

examples/CMakeLists.txt

@@ -35,7 +35,7 @@ target_link_libraries(t07_wrap_legacy   ${BEHAVIOR_TREE_LIBRARY} )
 add_executable(t08_additional_node_args   t08_additional_node_args.cpp )
 target_link_libraries(t08_additional_node_args   ${BEHAVIOR_TREE_LIBRARY} )
 
-if (NOT MINGW)
+if (BT_COROUTINES)
     add_executable(t09_async_actions_coroutines  t09_async_actions_coroutines.cpp )
     target_link_libraries(t09_async_actions_coroutines ${BEHAVIOR_TREE_LIBRARY} )
 endif()

tests/CMakeLists.txt

@@ -19,7 +19,7 @@ set(BT_TESTS
   gtest_switch.cpp
 )
 
-if (NOT MINGW)
+if (BT_COROUTINES)
     list(APPEND BT_TESTS  gtest_coroutines.cpp)
 endif()
 

tests/navigation_test.cpp

@@ -110,28 +110,36 @@ class ComputePathToPose: public SyncActionNode, public TestNode
     }
 };
 
-class FollowPath: public CoroActionNode, public TestNode
+class FollowPath: public ActionNodeBase, public TestNode
 {
+    std::chrono::high_resolution_clock::time_point _initial_time;
   public:
-    FollowPath(const std::string& name): CoroActionNode(name, {}), TestNode(name), _halted(false){}
+    FollowPath(const std::string& name): ActionNodeBase(name, {}), TestNode(name), _halted(false){}
 
     NodeStatus tick() override
     {
-        _halted = false;
-        std::cout << "FollowPath::started" << std::endl;
-        auto initial_time = Now();
+        if( status() == NodeStatus::IDLE )
+        {
+            setStatus(NodeStatus::RUNNING);
+            _halted = false;
+            std::cout << "FollowPath::started" << std::endl;
+            _initial_time = Now();
+        }
 
         // Yield for 1 second
-        while( Now() < initial_time + Milliseconds(600) )
+        while( Now() < _initial_time + Milliseconds(600) || _halted )
+        {
+            return NodeStatus::RUNNING;
+        }
+        if( _halted )
         {
-            setStatusRunningAndYield();
+            return NodeStatus::IDLE;
         }
         return tickImpl();
     }
     void halt() override {
         std::cout << "FollowPath::halt" << std::endl;
         _halted = true;
-        CoroActionNode::halt();
     }
 
     bool wasHalted() const { return _halted; }