fix in SharedLibrary and cosmetic changes to the code

Author: facontidavide

include/behaviortree_cpp/bt_factory.h

@@ -46,40 +46,38 @@ inline TreeNodeManifest CreateManifest(const std::string& ID,
   return {getType<T>(), ID, portlist, {}};
 }
 
-constexpr const char* PLUGIN_SYMBOL = "BT_RegisterNodesFromPlugin";
+#ifdef BT_PLUGIN_EXPORT
 
-#ifndef BT_PLUGIN_EXPORT
+#if defined(_WIN32)
+  #define BTCPP_EXPORT extern "C" __declspec(dllexport)
+#else
+  // Unix-like OSes
+  #define BTCPP_EXPORT extern "C" __attribute__ ((visibility ("default")))
+#endif
 
+#else
+  #define BTCPP_EXPORT
+#endif
 /* Use this macro to automatically register one or more custom Nodes
-into a factory. For instance:
-
-BT_REGISTER_NODES(factory)
-{
-    factory.registerNodeType<MoveBaseAction>("MoveBase");
-}
+* into a factory. For instance:
+*
+*   BT_REGISTER_NODES(factory)
+*   {
+*     factory.registerNodeType<MoveBaseAction>("MoveBase");
+*   }
+*
+* IMPORTANT: this function MUST be declared in a cpp file, NOT a header file.
+* In your cake, you must add the definition [BT_PLUGIN_EXPORT] with:
+*
+*   target_compile_definitions(my_plugin_target PRIVATE  BT_PLUGIN_EXPORT )
 
-IMPORTANT: this function MUST be declared in a cpp file, NOT a header file.
-See examples for more information about configuring CMake correctly
+* See examples in sample_nodes directory.
 */
-#define BT_REGISTER_NODES(factory)                                                       \
-  static void BT_RegisterNodesFromPlugin(BT::BehaviorTreeFactory& factory)
-
-#else
-
-#if defined(__linux__) || defined __APPLE__
-
-#define BT_REGISTER_NODES(factory)                                                       \
-  extern "C" void __attribute__((visibility("default")))                                 \
-  BT_RegisterNodesFromPlugin(BT::BehaviorTreeFactory& factory)
-
-#elif _WIN32
 
 #define BT_REGISTER_NODES(factory)                                                       \
-  extern "C" void __declspec(dllexport)                                                  \
-      BT_RegisterNodesFromPlugin(BT::BehaviorTreeFactory& factory)
-#endif
+  static BTCPP_EXPORT void BT_RegisterNodesFromPlugin(BT::BehaviorTreeFactory& factory)
 
-#endif
+constexpr const char* PLUGIN_SYMBOL = "BT_RegisterNodesFromPlugin";
 
 /**
  * @brief Struct used to store a tree.

include/behaviortree_cpp/utils/shared_library.h

@@ -51,81 +51,81 @@ class SharedLibrary
 public:
   enum Flags
   {
-    SHLIB_GLOBAL = 1,
     /// On platforms that use dlopen(), use RTLD_GLOBAL. This is the default
     /// if no flags are given.
     ///
     /// This flag is ignored on platforms that do not use dlopen().
+    SHLIB_GLOBAL = 1,
 
-    SHLIB_LOCAL = 2
     /// On platforms that use dlopen(), use RTLD_LOCAL instead of RTLD_GLOBAL.
     ///
     /// Note that if this flag is specified, RTTI (including dynamic_cast and throw) will
     /// not work for types defined in the shared library with GCC and possibly other
     /// compilers as well. See http://gcc.gnu.org/faq.html#dso for more information.
     ///
     /// This flag is ignored on platforms that do not use dlopen().
+    SHLIB_LOCAL = 2
   };
 
-  SharedLibrary();
   /// Creates a SharedLibrary object.
+  SharedLibrary();
 
-  SharedLibrary(const std::string& path, int flags = 0);
   /// Creates a SharedLibrary object and loads a library
   /// from the given path, using the given flags.
   /// See the Flags enumeration for valid values.
+  SharedLibrary(const std::string& path, int flags = 0);
 
-  virtual ~SharedLibrary() = default;
   /// Destroys the SharedLibrary. The actual library
   /// remains loaded.
+  virtual ~SharedLibrary() = default;
 
-  void load(const std::string& path, int flags = 0);
   /// Loads a shared library from the given path,
   /// using the given flags. See the Flags enumeration
   /// for valid values.
   /// Throws a LibraryAlreadyLoadedException if
   /// a library has already been loaded.
   /// Throws a LibraryLoadException if the library
   /// cannot be loaded.
+  void load(const std::string& path, int flags = 0);
 
-  void unload();
   /// Unloads a shared library.
+  void unload();
 
-  bool isLoaded() const;
   /// Returns true iff a library has been loaded.
+  bool isLoaded() const;
 
-  bool hasSymbol(const std::string& name);
   /// Returns true iff the loaded library contains
   /// a symbol with the given name.
+  bool hasSymbol(const std::string& name);
 
-  void* getSymbol(const std::string& name);
   /// Returns the address of the symbol with
   /// the given name. For functions, this
   /// is the entry point of the function.
   /// Throws a NotFoundException if the symbol
   /// does not exist.
+  void* getSymbol(const std::string& name);
 
-  const std::string& getPath() const;
   /// Returns the path of the library, as
   /// specified in a call to load() or the
   /// constructor.
+  const std::string& getPath() const;
 
-  static std::string prefix();
   /// Returns the platform-specific filename prefix
   /// for shared libraries.
   /// Most platforms would return "lib" as prefix, while
   /// on Cygwin, the "cyg" prefix will be returned.
+  static std::string prefix();
 
-  static std::string suffix();
   /// Returns the platform-specific filename suffix
   /// for shared libraries (including the period).
   /// In debug mode, the suffix also includes a
   /// "d" to specify the debug version of a library.
+  static std::string suffix();
 
-  static std::string getOSName(const std::string& name);
   /// Returns the platform-specific filename
   /// for shared libraries by prefixing and suffixing name
   /// with prefix() and suffix()
+  static std::string getOSName(const std::string& name);
 
 private:
   SharedLibrary(const SharedLibrary&);
@@ -134,7 +134,7 @@ class SharedLibrary
   void* findSymbol(const std::string& name);
 
   std::string _path;
-  void* _handle;
+  void* _handle = nullptr;
   std::mutex _mutex;
 };