fix windows and mingw compilation (?)

Author: facontidavide

CMakeLists.txt

@@ -12,6 +12,10 @@ if(MSVC)
     add_definitions(-D_CRT_SECURE_NO_WARNINGS)
 endif()
 
+if( MINGW )
+    add_definitions(-DBT_NO_COROUTINES)
+endif()
+
 set(CMAKE_POSITION_INDEPENDENT_CODE ON)
 
 set(CMAKE_CONFIG_PATH ${CMAKE_MODULE_PATH}  "${CMAKE_CURRENT_LIST_DIR}/cmake")

examples/CMakeLists.txt

@@ -35,8 +35,10 @@ 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} )
 
-add_executable(t09_async_actions_coroutines  t09_async_actions_coroutines.cpp )
-target_link_libraries(t09_async_actions_coroutines ${BEHAVIOR_TREE_LIBRARY} )
+if (NOT MINGW)
+    add_executable(t09_async_actions_coroutines  t09_async_actions_coroutines.cpp )
+    target_link_libraries(t09_async_actions_coroutines ${BEHAVIOR_TREE_LIBRARY} )
+endif()
 
 add_executable(t10_include_trees  t10_include_trees.cpp )
 target_link_libraries(t10_include_trees  ${BEHAVIOR_TREE_LIBRARY} dummy_nodes )

include/behaviortree_cpp/action_node.h

@@ -136,6 +136,8 @@ class AsyncActionNode : public ActionNodeBase
     std::thread thread_;
 };
 
+#ifndef BT_NO_COROUTINES
+
 /**
  * @brief The CoroActionNode class is an ideal candidate for asynchronous actions
  * which need to communicate with an external service using an asynch request/reply interface
@@ -174,9 +176,8 @@ class CoroActionNode : public ActionNodeBase
 
     struct Pimpl; // The Pimpl idiom
     std::unique_ptr<Pimpl> _p;
-
 };
-
+#endif
 
 }   //end namespace
 

include/behaviortree_cpp/control_node.h

@@ -32,19 +32,19 @@ class ControlNode : public TreeNode
     /// The method used to add nodes to the children vector
     void addChild(TreeNode* child);
 
-    unsigned childrenCount() const;
+    size_t childrenCount() const;
 
     const std::vector<TreeNode*>& children() const;
 
-    const TreeNode* child(unsigned index) const
+    const TreeNode* child(size_t index) const
     {
         return children().at(index);
     }
 
     virtual void halt() override;
 
     /// call halt() for all the children in the range [i, childrenCount() )
-    void haltChildren(unsigned i);
+    void haltChildren(size_t i);
 
     virtual NodeType type() const override final
     {

include/behaviortree_cpp/controls/fallback_node.h

@@ -40,7 +40,7 @@ class FallbackNode : public ControlNode
     virtual void halt() override;
 
   private:
-    unsigned int current_child_idx_;
+    size_t current_child_idx_;
 
     virtual BT::NodeStatus tick() override;
 };

include/behaviortree_cpp/controls/sequence_node.h

@@ -41,7 +41,7 @@ class SequenceNode : public ControlNode
     virtual void halt() override;
 
   private:
-    unsigned int current_child_idx_;
+    size_t current_child_idx_;
 
     virtual BT::NodeStatus tick() override;
 };

include/behaviortree_cpp/controls/sequence_star_node.h

@@ -43,7 +43,7 @@ class SequenceStarNode : public ControlNode
 
   private:
 
-    unsigned int current_child_idx_;
+    size_t current_child_idx_;
 
     virtual BT::NodeStatus tick() override;
 };

src/action_node.cpp

@@ -12,10 +12,9 @@
 */
 
 #include "behaviortree_cpp/action_node.h"
-#include "coroutine/coroutine.h"
 
-namespace BT
-{
+using namespace BT;
+
 ActionNodeBase::ActionNodeBase(const std::string& name, const NodeConfiguration& config)
   : LeafNode::LeafNode(name, config)
 {
@@ -146,7 +145,26 @@ void AsyncActionNode::stopAndJoinThread()
     }
 }
 
+
+SyncActionNode::SyncActionNode(const std::string &name, const NodeConfiguration& config):
+  ActionNodeBase(name, config)
+{}
+
+NodeStatus SyncActionNode::executeTick()
+{
+  auto stat = ActionNodeBase::executeTick();
+  if( stat == NodeStatus::RUNNING)
+  {
+    throw LogicError("SyncActionNode MUST never return RUNNING");
+  }
+  return stat;
+}
+
+
 //-------------------------------------
+#ifndef BT_NO_COROUTINES
+#include "coroutine/coroutine.h"
+
 struct CoroActionNode::Pimpl
 {
     coroutine::routine_t coro;
@@ -212,21 +230,6 @@ void CoroActionNode::halt()
 {
     _p->pending_destroy = true;
 }
-
-SyncActionNode::SyncActionNode(const std::string &name, const NodeConfiguration& config):
-    ActionNodeBase(name, config)
-{}
-
-NodeStatus SyncActionNode::executeTick()
-{
-    auto stat = ActionNodeBase::executeTick();
-    if( stat == NodeStatus::RUNNING)
-    {
-        throw LogicError("SyncActionNode MUST never return RUNNING");
-    }
-    return stat;
-}
-
+#endif
 
 
-}

src/control_node.cpp

@@ -25,9 +25,9 @@ void ControlNode::addChild(TreeNode* child)
     children_nodes_.push_back(child);
 }
 
-unsigned ControlNode::childrenCount() const
+size_t ControlNode::childrenCount() const
 {
-    return unsigned(children_nodes_.size());
+    return children_nodes_.size();
 }
 
 void ControlNode::halt()
@@ -41,7 +41,7 @@ const std::vector<TreeNode*>& ControlNode::children() const
     return children_nodes_;
 }
 
-void ControlNode::haltChildren(unsigned i)
+void ControlNode::haltChildren(size_t i)
 {
     for (size_t j = i; j < children_nodes_.size(); j++)
     {

tests/CMakeLists.txt

@@ -13,11 +13,14 @@ set(BT_TESTS
   gtest_factory.cpp
   gtest_decorator.cpp
   gtest_blackboard.cpp
-  gtest_coroutines.cpp
   navigation_test.cpp
   gtest_subtree.cpp
 )
 
+if (NOT MINGW)
+    list(APPEND BT_TESTS  gtest_coroutines.cpp)
+endif()
+
 if(ament_cmake_FOUND AND BUILD_TESTING)
 
     find_package(ament_cmake_gtest REQUIRED)