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Commented out unnecessary CMakeLists
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lucvt001 committed Jan 3, 2025
1 parent c404502 commit 0f00fcd
Showing 3 changed files with 156 additions and 156 deletions.
124 changes: 62 additions & 62 deletions examples/CMakeLists.txt
Original file line number Diff line number Diff line change
@@ -1,62 +1,62 @@
include_directories( ../sample_nodes )

set(CMAKE_DEBUG_POSTFIX "")

function(CompileExample name)
add_executable(${name} ${name}.cpp )
target_link_libraries(${name} ${BTCPP_LIBRARY} bt_sample_nodes )
endfunction()


# The plugin libdummy_nodes.so can be linked statically or
# loaded dynamically at run-time.
add_executable(t01_first_tree_static t01_build_your_first_tree.cpp )
target_compile_definitions(t01_first_tree_static PRIVATE "MANUAL_STATIC_LINKING")
target_link_libraries(t01_first_tree_static ${BTCPP_LIBRARY} bt_sample_nodes )

add_executable(t01_first_tree_dynamic t01_build_your_first_tree.cpp )
target_link_libraries(t01_first_tree_dynamic ${BTCPP_LIBRARY} )

CompileExample("t02_basic_ports")
CompileExample("t03_generic_ports")
CompileExample("t04_reactive_sequence")
CompileExample("t05_crossdoor")
CompileExample("t06_subtree_port_remapping")
CompileExample("t07_load_multiple_xml")
CompileExample("t08_additional_node_args")
CompileExample("t09_scripting")
CompileExample("t10_observer")

if(BTCPP_GROOT_INTERFACE)
CompileExample("t11_groot_howto")
endif()

CompileExample("t12_default_ports")
CompileExample("t13_access_by_ref")
CompileExample("t14_subtree_model")
CompileExample("t15_nodes_mocking")
CompileExample("t16_global_blackboard")
CompileExample("t17_blackboard_backup")
CompileExample("t18_waypoints")

CompileExample("ex01_wrap_legacy")
CompileExample("ex02_runtime_ports")

if(BTCPP_SQLITE_LOGGING)
CompileExample("ex03_sqlite_log")
endif()


############ Create plugin and executor in folder plugin_example ##########

# library must be SHARED
add_library(test_plugin_action SHARED plugin_example/plugin_action.cpp )
# you must set the definition BT_PLUGIN_EXPORT
target_compile_definitions(test_plugin_action PRIVATE BT_PLUGIN_EXPORT )
# remove the "lib" prefix. Name of the file will be test_plugin_action.so
set_target_properties(test_plugin_action PROPERTIES PREFIX "")
# link dependencies as usual
target_link_libraries(test_plugin_action ${BTCPP_LIBRARY} )

add_executable(test_plugin_executor plugin_example/plugin_executor.cpp )
target_link_libraries(test_plugin_executor ${BTCPP_LIBRARY})
# include_directories( ../sample_nodes )

# set(CMAKE_DEBUG_POSTFIX "")

# function(CompileExample name)
# add_executable(${name} ${name}.cpp )
# target_link_libraries(${name} ${BTCPP_LIBRARY} bt_sample_nodes )
# endfunction()


# # The plugin libdummy_nodes.so can be linked statically or
# # loaded dynamically at run-time.
# add_executable(t01_first_tree_static t01_build_your_first_tree.cpp )
# target_compile_definitions(t01_first_tree_static PRIVATE "MANUAL_STATIC_LINKING")
# target_link_libraries(t01_first_tree_static ${BTCPP_LIBRARY} bt_sample_nodes )

# add_executable(t01_first_tree_dynamic t01_build_your_first_tree.cpp )
# target_link_libraries(t01_first_tree_dynamic ${BTCPP_LIBRARY} )

# CompileExample("t02_basic_ports")
# CompileExample("t03_generic_ports")
# CompileExample("t04_reactive_sequence")
# CompileExample("t05_crossdoor")
# CompileExample("t06_subtree_port_remapping")
# CompileExample("t07_load_multiple_xml")
# CompileExample("t08_additional_node_args")
# CompileExample("t09_scripting")
# CompileExample("t10_observer")

# if(BTCPP_GROOT_INTERFACE)
# CompileExample("t11_groot_howto")
# endif()

# CompileExample("t12_default_ports")
# CompileExample("t13_access_by_ref")
# CompileExample("t14_subtree_model")
# CompileExample("t15_nodes_mocking")
# CompileExample("t16_global_blackboard")
# CompileExample("t17_blackboard_backup")
# CompileExample("t18_waypoints")

# CompileExample("ex01_wrap_legacy")
# CompileExample("ex02_runtime_ports")

# if(BTCPP_SQLITE_LOGGING)
# CompileExample("ex03_sqlite_log")
# endif()


# ############ Create plugin and executor in folder plugin_example ##########

# # library must be SHARED
# add_library(test_plugin_action SHARED plugin_example/plugin_action.cpp )
# # you must set the definition BT_PLUGIN_EXPORT
# target_compile_definitions(test_plugin_action PRIVATE BT_PLUGIN_EXPORT )
# # remove the "lib" prefix. Name of the file will be test_plugin_action.so
# set_target_properties(test_plugin_action PROPERTIES PREFIX "")
# # link dependencies as usual
# target_link_libraries(test_plugin_action ${BTCPP_LIBRARY} )

# add_executable(test_plugin_executor plugin_example/plugin_executor.cpp )
# target_link_libraries(test_plugin_executor ${BTCPP_LIBRARY})
72 changes: 36 additions & 36 deletions sample_nodes/CMakeLists.txt
Original file line number Diff line number Diff line change
@@ -1,47 +1,47 @@
include_directories( ../include )
# include_directories( ../include )

# compile as static libraries
# # compile as static libraries

set(CMAKE_DEBUG_POSTFIX "")
# set(CMAKE_DEBUG_POSTFIX "")

add_library(bt_sample_nodes STATIC
crossdoor_nodes.cpp
dummy_nodes.cpp
movebase_node.cpp )
# add_library(bt_sample_nodes STATIC
# crossdoor_nodes.cpp
# dummy_nodes.cpp
# movebase_node.cpp )

target_link_libraries(bt_sample_nodes PRIVATE ${BTCPP_LIBRARY})
set_target_properties(bt_sample_nodes PROPERTIES ARCHIVE_OUTPUT_DIRECTORY
${BTCPP_LIB_DESTINATION} )
# target_link_libraries(bt_sample_nodes PRIVATE ${BTCPP_LIBRARY})
# set_target_properties(bt_sample_nodes PROPERTIES ARCHIVE_OUTPUT_DIRECTORY
# ${BTCPP_LIB_DESTINATION} )

# to create a plugin, compile them in this way instead
# # to create a plugin, compile them in this way instead

add_library(crossdoor_nodes_dyn SHARED crossdoor_nodes.cpp )
target_link_libraries(crossdoor_nodes_dyn PRIVATE ${BTCPP_LIBRARY})
target_compile_definitions(crossdoor_nodes_dyn PRIVATE BT_PLUGIN_EXPORT )
set_target_properties(crossdoor_nodes_dyn PROPERTIES LIBRARY_OUTPUT_DIRECTORY
${BTCPP_BIN_DESTINATION} )
# add_library(crossdoor_nodes_dyn SHARED crossdoor_nodes.cpp )
# target_link_libraries(crossdoor_nodes_dyn PRIVATE ${BTCPP_LIBRARY})
# target_compile_definitions(crossdoor_nodes_dyn PRIVATE BT_PLUGIN_EXPORT )
# set_target_properties(crossdoor_nodes_dyn PROPERTIES LIBRARY_OUTPUT_DIRECTORY
# ${BTCPP_BIN_DESTINATION} )

add_library(dummy_nodes_dyn SHARED dummy_nodes.cpp )
target_link_libraries(dummy_nodes_dyn PRIVATE ${BTCPP_LIBRARY})
target_compile_definitions(dummy_nodes_dyn PRIVATE BT_PLUGIN_EXPORT)
set_target_properties(dummy_nodes_dyn PROPERTIES LIBRARY_OUTPUT_DIRECTORY
${BTCPP_BIN_DESTINATION} )
# add_library(dummy_nodes_dyn SHARED dummy_nodes.cpp )
# target_link_libraries(dummy_nodes_dyn PRIVATE ${BTCPP_LIBRARY})
# target_compile_definitions(dummy_nodes_dyn PRIVATE BT_PLUGIN_EXPORT)
# set_target_properties(dummy_nodes_dyn PROPERTIES LIBRARY_OUTPUT_DIRECTORY
# ${BTCPP_BIN_DESTINATION} )


add_library(movebase_node_dyn SHARED movebase_node.cpp )
target_link_libraries(movebase_node_dyn PRIVATE ${BTCPP_LIBRARY})
target_compile_definitions(movebase_node_dyn PRIVATE BT_PLUGIN_EXPORT )
set_target_properties(movebase_node_dyn PROPERTIES LIBRARY_OUTPUT_DIRECTORY
${BTCPP_BIN_DESTINATION} )
# add_library(movebase_node_dyn SHARED movebase_node.cpp )
# target_link_libraries(movebase_node_dyn PRIVATE ${BTCPP_LIBRARY})
# target_compile_definitions(movebase_node_dyn PRIVATE BT_PLUGIN_EXPORT )
# set_target_properties(movebase_node_dyn PROPERTIES LIBRARY_OUTPUT_DIRECTORY
# ${BTCPP_BIN_DESTINATION} )

######################################################
# INSTALL plugins for other packages to load
# ######################################################
# # INSTALL plugins for other packages to load

INSTALL(TARGETS
crossdoor_nodes_dyn
dummy_nodes_dyn
movebase_node_dyn
LIBRARY DESTINATION share/${PROJECT_NAME}/bt_plugins
ARCHIVE DESTINATION share/${PROJECT_NAME}/bt_plugins
RUNTIME DESTINATION share/${PROJECT_NAME}/bt_plugins
)
# INSTALL(TARGETS
# crossdoor_nodes_dyn
# dummy_nodes_dyn
# movebase_node_dyn
# LIBRARY DESTINATION share/${PROJECT_NAME}/bt_plugins
# ARCHIVE DESTINATION share/${PROJECT_NAME}/bt_plugins
# RUNTIME DESTINATION share/${PROJECT_NAME}/bt_plugins
# )
116 changes: 58 additions & 58 deletions tests/CMakeLists.txt
Original file line number Diff line number Diff line change
@@ -1,73 +1,73 @@
######################################################
# TESTS
# ######################################################
# # TESTS

set(BT_TESTS
src/action_test_node.cpp
src/condition_test_node.cpp
# set(BT_TESTS
# src/action_test_node.cpp
# src/condition_test_node.cpp

gtest_any.cpp
gtest_blackboard.cpp
gtest_coroutines.cpp
gtest_decorator.cpp
gtest_enums.cpp
gtest_factory.cpp
gtest_fallback.cpp
gtest_parallel.cpp
gtest_preconditions.cpp
gtest_ports.cpp
gtest_postconditions.cpp
gtest_match.cpp
gtest_json.cpp
gtest_reactive.cpp
gtest_reactive_backchaining.cpp
gtest_sequence.cpp
gtest_skipping.cpp
gtest_substitution.cpp
gtest_subtree.cpp
gtest_switch.cpp
gtest_tree.cpp
gtest_updates.cpp
gtest_wakeup.cpp
# gtest_any.cpp
# gtest_blackboard.cpp
# gtest_coroutines.cpp
# gtest_decorator.cpp
# gtest_enums.cpp
# gtest_factory.cpp
# gtest_fallback.cpp
# gtest_parallel.cpp
# gtest_preconditions.cpp
# gtest_ports.cpp
# gtest_postconditions.cpp
# gtest_match.cpp
# gtest_json.cpp
# gtest_reactive.cpp
# gtest_reactive_backchaining.cpp
# gtest_sequence.cpp
# gtest_skipping.cpp
# gtest_substitution.cpp
# gtest_subtree.cpp
# gtest_switch.cpp
# gtest_tree.cpp
# gtest_updates.cpp
# gtest_wakeup.cpp

script_parser_test.cpp
test_helper.hpp
)
# script_parser_test.cpp
# test_helper.hpp
# )

set(TEST_DEPENDECIES
${BTCPP_LIBRARY}
foonathan::lexy
bt_sample_nodes)
# set(TEST_DEPENDECIES
# ${BTCPP_LIBRARY}
# foonathan::lexy
# bt_sample_nodes)

if(ament_cmake_FOUND AND BUILD_TESTING)
# if(ament_cmake_FOUND AND BUILD_TESTING)

find_package(ament_cmake_gtest REQUIRED)
# find_package(ament_cmake_gtest REQUIRED)

ament_add_gtest(${BTCPP_LIBRARY}_test ${BT_TESTS})
target_link_libraries(${BTCPP_LIBRARY}_test
${TEST_DEPENDECIES}
${ament_LIBRARIES})
# ament_add_gtest(${BTCPP_LIBRARY}_test ${BT_TESTS})
# target_link_libraries(${BTCPP_LIBRARY}_test
# ${TEST_DEPENDECIES}
# ${ament_LIBRARIES})

elseif(catkin_FOUND AND CATKIN_ENABLE_TESTING)
# elseif(catkin_FOUND AND CATKIN_ENABLE_TESTING)

catkin_add_gtest(${BTCPP_LIBRARY}_test ${BT_TESTS})
target_link_libraries(${BTCPP_LIBRARY}_test
${TEST_DEPENDECIES}
Threads::Threads
${catkin_LIBRARIES})
# catkin_add_gtest(${BTCPP_LIBRARY}_test ${BT_TESTS})
# target_link_libraries(${BTCPP_LIBRARY}_test
# ${TEST_DEPENDECIES}
# Threads::Threads
# ${catkin_LIBRARIES})

else()
# else()

find_package(GTest REQUIRED)
enable_testing()
# find_package(GTest REQUIRED)
# enable_testing()

add_executable(${BTCPP_LIBRARY}_test ${BT_TESTS})
# add_executable(${BTCPP_LIBRARY}_test ${BT_TESTS})

target_link_libraries(${PROJECT_NAME}_test
${TEST_DEPENDECIES}
Threads::Threads
GTest::gtest)
# target_link_libraries(${PROJECT_NAME}_test
# ${TEST_DEPENDECIES}
# Threads::Threads
# GTest::gtest)

endif()
# endif()

target_include_directories(${BTCPP_LIBRARY}_test PRIVATE include ${PROJECT_SOURCE_DIR}/3rdparty)
target_compile_definitions(${BTCPP_LIBRARY}_test PRIVATE BT_TEST_FOLDER="${CMAKE_CURRENT_SOURCE_DIR}")
# target_include_directories(${BTCPP_LIBRARY}_test PRIVATE include ${PROJECT_SOURCE_DIR}/3rdparty)
# target_compile_definitions(${BTCPP_LIBRARY}_test PRIVATE BT_TEST_FOLDER="${CMAKE_CURRENT_SOURCE_DIR}")

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