fix error #473 and change name of CMake options

Author: facontidavide

.github/workflows/cmake.yml renamed to .github/workflows/cmake_ubuntu.yml

@@ -1,4 +1,4 @@
-name: cmake
+name: cmake Ubuntu
 
 on: [push, pull_request]
 
@@ -15,14 +15,13 @@ jobs:
     runs-on: ${{ matrix.os }}
     strategy:
       matrix:
-        os: [ubuntu-latest, windows-latest]
+        os: [ubuntu-20.04]
 
     steps:
     - uses: actions/checkout@v2
 
     - name: Install Dependencies (Linux)
       run: sudo apt-get install libboost-dev libzmq3-dev
-      if: matrix.os == 'ubuntu-latest'
 
     - name: Create Build Environment
       # Some projects don't allow in-source building, so create a separate build directory
@@ -34,8 +33,8 @@ jobs:
       # access regardless of the host operating system
       shell: bash
       working-directory: ${{github.workspace}}/build
-      # Note the current convention is to use the -S and -B options here to specify source
-      # and build directories, but this is only available with CMake 3.13 and higher.
+      # Note the current convention is to use the -S and -B options here to specify source 
+      # and build directories, but this is only available with CMake 3.13 and higher.  
       # The CMake binaries on the Github Actions machines are (as of this writing) 3.12
       run: cmake $GITHUB_WORKSPACE -DCMAKE_BUILD_TYPE=$BUILD_TYPE -DCMAKE_VERBOSE_MAKEFILE:BOOL=ON
 
@@ -46,7 +45,6 @@ jobs:
       run: cmake --build . --config $BUILD_TYPE
 
     - name: run test (Linux)
-      if: matrix.os == 'ubuntu-latest'
       working-directory: ${{github.workspace}}/build
       run: ./tests/behaviortree_cpp_test
 

.github/workflows/cmake_windows.yml

@@ -0,0 +1,47 @@
+name: cmake Windows
+
+on: [push, pull_request]
+
+env:
+  # Customize the CMake build type here (Release, Debug, RelWithDebInfo, etc.)
+  BUILD_TYPE: Release
+
+jobs:
+  build:
+    # The CMake configure and build commands are platform agnostic and should work equally
+    # well on Windows or Mac.  You can convert this to a matrix build if you need
+    # cross-platform coverage.
+    # See: https://docs.github.com/en/free-pro-team@latest/actions/learn-github-actions/managing-complex-workflows#using-a-build-matrix
+    runs-on: ${{ matrix.os }}
+    strategy:
+      matrix:
+        os: [windows-latest]
+
+    steps:
+    - uses: actions/checkout@v2
+
+    - name: Create Build Environment
+      # Some projects don't allow in-source building, so create a separate build directory
+      # We'll use this as our working directory for all subsequent commands
+      run: cmake -E make_directory ${{github.workspace}}/build
+
+    - name: Configure CMake
+      # Use a bash shell so we can use the same syntax for environment variable
+      # access regardless of the host operating system
+      shell: bash
+      working-directory: ${{github.workspace}}/build
+      # Note the current convention is to use the -S and -B options here to specify source 
+      # and build directories, but this is only available with CMake 3.13 and higher.  
+      # The CMake binaries on the Github Actions machines are (as of this writing) 3.12
+      run: cmake $GITHUB_WORKSPACE -DCMAKE_BUILD_TYPE=$BUILD_TYPE -DCMAKE_VERBOSE_MAKEFILE:BOOL=ON
+
+    - name: Build
+      working-directory: ${{github.workspace}}/build
+      shell: bash
+      # Execute the build.  You can specify a specific target with "--target <NAME>"
+      run: cmake --build . --config $BUILD_TYPE
+      
+    - name: run test (Windows)
+      working-directory: ${{github.workspace}}/build
+      run: ./tests/Release/behaviortree_cpp_test
+      

CMakeLists.txt

@@ -18,41 +18,48 @@ endif()
 set(CMAKE_POSITION_INDEPENDENT_CODE ON)
 
 #---- project configuration ----
-option(BUILD_EXAMPLES   "Build tutorials and examples" ON)
-option(BUILD_SAMPLES    "Build sample nodes" ON)
-option(BUILD_UNIT_TESTS "Build the unit tests" ON)
-option(BUILD_TOOLS "Build commandline tools" ON)
-option(BUILD_SHARED_LIBS "Build shared libraries" ON)
-option(BUILD_MANUAL_SELECTOR "Build manual selector node" ON)
-option(ENABLE_COROUTINES "Enable boost coroutines" ON)
+option(BTCPP_SHARED_LIBS "Build shared libraries" ON)
+option(BTCPP_ENABLE_COROUTINES "Enable boost coroutines" ON)
+option(BTCPP_MANUAL_SELECTOR "Build manual selector node" ON)
+
+if(${CMAKE_SOURCE_DIR} STREQUAL ${CMAKE_CURRENT_SOURCE_DIR} )
+    option(BTCPP_EXAMPLES   "Build tutorials and examples" ON)
+    option(BTCPP_UNIT_TESTS "Build the unit tests" ON)
+    option(BTCPP_BUILD_TOOLS "Build commandline tools" ON)
+else()
+    option(BTCPP_EXAMPLES   "Build tutorials and examples" OFF)
+    option(BTCPP_UNIT_TESTS "Build the unit tests" OFF)
+    option(BTCPP_BUILD_TOOLS "Build commandline tools" OFF)
+endif()
+
 option(USE_V3_COMPATIBLE_NAMES  "Use some alias to compile more easily old 3.x code" OFF)
 
 #---- Include boost to add coroutines ----
-if(ENABLE_COROUTINES)
+if(BTCPP_ENABLE_COROUTINES)
     find_package(Boost COMPONENTS coroutine QUIET)
 
     if(Boost_FOUND)
         string(REPLACE "." "0" Boost_VERSION_NODOT ${Boost_VERSION})
         if(NOT Boost_VERSION_NODOT VERSION_LESS 105900)
             message(STATUS "Found boost::coroutine2.")
             add_definitions(-DBT_BOOST_COROUTINE2)
-            set(BT_COROUTINES true)
+            set(BT_COROUTINES_FOUND true)
         elseif(NOT Boost_VERSION_NODOT VERSION_LESS 105300)
             message(STATUS "Found boost::coroutine.")
             add_definitions(-DBT_BOOST_COROUTINE)
-            set(BT_COROUTINES true)
+            set(BT_COROUTINES_FOUND true)
         endif()
         include_directories(${Boost_INCLUDE_DIRS})
     endif()
 
-    if(NOT DEFINED BT_COROUTINES)
+    if(NOT DEFINED BT_COROUTINES_FOUND)
         message(STATUS "Boost coroutines disabled. Install Boost (version 1.59+ recommended).")
     endif()
 else()
     message(STATUS "Boost coroutines disabled by CMake option.")
 endif()
 
-if(NOT DEFINED BT_COROUTINES)
+if(NOT DEFINED BT_COROUTINES_FOUND)
     add_definitions(-DBT_NO_COROUTINES)
 endif()
 
@@ -116,7 +123,7 @@ elseif( CATKIN_DEVEL_PREFIX OR CATKIN_BUILD_BINARY_PACKAGE)
     list(APPEND BEHAVIOR_TREE_PUBLIC_LIBRARIES ${catkin_LIBRARIES})
     set(BUILD_TOOL_INCLUDE_DIRS ${catkin_INCLUDE_DIRS})
 
-elseif(BUILD_UNIT_TESTS)
+elseif(BTCPP_UNIT_TESTS)
     if(${CMAKE_VERSION} VERSION_LESS "3.11.0")
         find_package(GTest REQUIRED)
     else()
@@ -175,7 +182,7 @@ list(APPEND BT_SOURCE
     3rdparty/minitrace/minitrace.cpp
     )
 
-if(BUILD_MANUAL_SELECTOR)
+if(BTCPP_MANUAL_SELECTOR)
     find_package(Curses QUIET)
     if(CURSES_FOUND)
         list(APPEND BT_SOURCE
@@ -211,13 +218,13 @@ if( ZMQ_FOUND )
     list(APPEND BUILD_TOOL_INCLUDE_DIRS ${ZMQ_INCLUDE_DIRS})
 endif()
 
-target_link_libraries(${BEHAVIOR_TREE_LIBRARY} PUBLIC
-    ${BEHAVIOR_TREE_PUBLIC_LIBRARIES})
-
-target_link_libraries(${BEHAVIOR_TREE_LIBRARY} PRIVATE
-    ${Boost_LIBRARIES}
-    ${ZMQ_LIBRARIES}
-    foonathan::lexy
+target_link_libraries(${BEHAVIOR_TREE_LIBRARY}
+    PUBLIC
+        ${BEHAVIOR_TREE_PUBLIC_LIBRARIES}
+    PRIVATE
+        ${Boost_LIBRARIES}
+        ${ZMQ_LIBRARIES}
+        $<BUILD_INTERFACE:foonathan::lexy>
 )
 
 #get_target_property(my_libs ${BEHAVIOR_TREE_LIBRARY} INTERFACE_LINK_LIBRARIES)
@@ -229,12 +236,15 @@ target_link_libraries(${BEHAVIOR_TREE_LIBRARY} PRIVATE
 target_compile_definitions(${BEHAVIOR_TREE_LIBRARY} PRIVATE $<$<CONFIG:Debug>:TINYXML2_DEBUG>)
 
 target_include_directories(${BEHAVIOR_TREE_LIBRARY} PUBLIC
-    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/3rdparty>
-    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/3rdparty/lexy/include>
     $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
     $<INSTALL_INTERFACE:include>
     ${BUILD_TOOL_INCLUDE_DIRS})
 
+target_include_directories(${BEHAVIOR_TREE_LIBRARY} PRIVATE
+    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/3rdparty>
+    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/3rdparty/lexy/include>
+    )
+
 if( ZMQ_FOUND )
     target_compile_definitions(${BEHAVIOR_TREE_LIBRARY} PUBLIC ZMQ_FOUND)
 endif()
@@ -271,18 +281,13 @@ endif()
 
 message( STATUS "BEHAVIOR_TREE_LIB_DESTINATION:   ${BEHAVIOR_TREE_LIB_DESTINATION} " )
 message( STATUS "BEHAVIOR_TREE_BIN_DESTINATION:   ${BEHAVIOR_TREE_BIN_DESTINATION} " )
-message( STATUS "BUILD_UNIT_TESTS:   ${BUILD_UNIT_TESTS} " )
+message( STATUS "BTCPP_UNIT_TESTS:   ${BTCPP_UNIT_TESTS} " )
 
-
-######################################################
-# Samples
-if (BUILD_SAMPLES)
-    add_subdirectory(sample_nodes)
-endif()
+add_subdirectory(sample_nodes)
 
 ######################################################
 # Test
-if (BUILD_UNIT_TESTS AND BUILD_SAMPLES)
+if (BTCPP_UNIT_TESTS)
     add_subdirectory(tests)
 endif()
 
@@ -333,10 +338,10 @@ install(
 
 ######################################################
 # EXAMPLES and TOOLS
-if(BUILD_TOOLS)
+if(BTCPP_BUILD_TOOLS)
     add_subdirectory(tools)
 endif()
 
-if(BUILD_EXAMPLES AND BUILD_SAMPLES)
+if(BTCPP_EXAMPLES)
     add_subdirectory(examples)
 endif()

tests/CMakeLists.txt

@@ -24,7 +24,7 @@ set(BT_TESTS
   script_parser_test.cpp
 )
 
-if( BT_COROUTINES )
+if( BTCPP_ENABLE_COROUTINES AND BT_COROUTINES_FOUND )
     LIST( APPEND BT_TESTS gtest_coroutines.cpp)
 endif()
 
@@ -60,7 +60,7 @@ elseif(catkin_FOUND AND CATKIN_ENABLE_TESTING)
 
     target_include_directories(${BEHAVIOR_TREE_LIBRARY}_test PRIVATE gtest/include)
 
-elseif(BUILD_UNIT_TESTS)
+elseif(BTCPP_UNIT_TESTS)
 
     enable_testing()
 

tools/CMakeLists.txt

@@ -1,5 +1,6 @@
 cmake_minimum_required(VERSION 3.5)
 
+include_directories(${CMAKE_SOURCE_DIR}/3rdparty)
 
 add_executable(bt3_log_cat         bt_log_cat.cpp )
 target_link_libraries(bt3_log_cat  ${BEHAVIOR_TREE_LIBRARY} )