fix compilation on windows

Author: facontidavide

3rdparty/backward-cpp/backward.hpp

@@ -680,6 +680,7 @@ class StackTraceImplHolder: public StackTraceImplBase {
 };
 
 
+#ifndef BACKWARD_SYSTEM_UNKNOWN
 #if BACKWARD_HAS_UNWIND == 1
 
 namespace details {
@@ -780,7 +781,7 @@ class StackTraceImpl<system_tag::current_tag>: public StackTraceImplHolder {
 };
 
 
-#else // BACKWARD_HAS_UNWIND == 0
+#else //  BACKWARD_HAS_UNWIND == 0
 
 template <>
 class StackTraceImpl<system_tag::current_tag>: public StackTraceImplHolder {
@@ -816,6 +817,7 @@ class StackTraceImpl<system_tag::current_tag>: public StackTraceImplHolder {
 };
 
 #endif // BACKWARD_HAS_UNWIND
+#endif //BACKWARD_SYSTEM_UNKNOWN
 
 class StackTrace:
 	public StackTraceImpl<system_tag::current_tag> {};

3rdparty/coroutine/coroutine.h

@@ -134,7 +134,7 @@ inline void destroy(routine_t id)
 	ordinator.indexes.push_back(id);
 }
 
-inline void __stdcall entry(LPVOID lpParameter)
+inline void __stdcall entry(LPVOID )
 {
 	routine_t id = ordinator.current;
 	Routine *routine = ordinator.routines[id-1];

3rdparty/minitrace/minitrace.cpp

@@ -84,7 +84,7 @@ inline int64_t mtr_time_usec(){
 	}
 	__int64 time;
 	QueryPerformanceCounter((LARGE_INTEGER*)&time);
-  int64_t now = 1.0e6 * ((double) (time - _starttime) / (double) _frequency);
+    int64_t now = static_cast<int64_t>( 1.0e6 * ((double)(time - _starttime) / (double)_frequency));
   if( now <= prev) now = prev + 1;
   prev = now;
   return now;
@@ -225,7 +225,6 @@ void mtr_flush() {
 #ifndef MTR_ENABLED
 	return;
 #endif
-	int i = 0;
 	char linebuf[1024];
 	char arg_buf[256];
 	char id_buf[256];
@@ -236,7 +235,7 @@ void mtr_flush() {
 	int old_tracing = is_tracing;
 	is_tracing = 0;	// Stop logging even if using interlocked increments instead of the mutex. Can cause data loss.
 
-	for (i = 0; i < count; i++) {
+	for (int i = 0; i < count; i++) {
 		raw_event_t *raw = &buffer[i];
 		int len;
 		switch (raw->arg_type) {
@@ -277,13 +276,14 @@ void mtr_flush() {
 		// On Windows, we often end up with backslashes in category.
 		{
 			char temp[256];
-			int len = (int)strlen(cat);
-			int i;
-			if (len > 255) len = 255;
-			for (i = 0; i < len; i++) {
-				temp[i] = cat[i] == '\\' ? '/' : cat[i];
+			int cat_len = (int)strlen(cat);
+            if (cat_len > 255)
+                cat_len = 255;
+            for (int a = 0; a < cat_len; a++)
+            {
+				temp[a] = cat[a] == '\\' ? '/' : cat[a];
 			}
-			temp[len] = 0;
+            temp[cat_len] = 0;
 			cat = temp;
 		}
 #endif
@@ -329,7 +329,7 @@ void internal_mtr_raw_event(const char *category, const char *name, char ph, voi
     int64_t x;
     memcpy(&x, id, sizeof(int64_t));
     ev->ts = x;
-    ev->a_double = (ts - x);
+    ev->a_double = static_cast<double>(ts - x);
   } else {
     ev->ts = ts;
   }

3rdparty/minitrace/minitrace.h

@@ -220,14 +220,14 @@ class MTRScopedTrace {
 private:
 	const char *category_;
 	const char *name_;
-  int64_t start_time_;
+    int64_t start_time_;
 };
 
 // Only outputs a block if execution time exceeded the limit.
 // TODO: This will effectively call mtr_time_usec twice at the end, which is bad.
 class MTRScopedTraceLimit {
 public:
-	MTRScopedTraceLimit(const char *category, const char *name, double limit_s)
+    MTRScopedTraceLimit(const char* category, const char* name, int64_t limit_s)
 		: category_(category), name_(name), limit_(limit_s) {
     start_time_ = mtr_time_usec();
 	}
@@ -241,8 +241,8 @@ class MTRScopedTraceLimit {
 private:
 	const char *category_;
 	const char *name_;
-	double start_time_;
-	double limit_;
+    int64_t start_time_;
+    int64_t limit_;
 };
 
 class MTRScopedTraceArg {

CMakeLists.txt

@@ -84,12 +84,12 @@ else()
     find_package(GTest)
 
     if(NOT GTEST_FOUND)
-      message(WARNING " GTest not found!")
+      message(WARNING " GTest missing!")
     endif(NOT GTEST_FOUND)
 
-    set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/bin)
-    set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/bin)
-    set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/bin)
+ #   set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/bin)
+ #   set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/lib)
+ #   set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/bin)
 
 endif()
 if(NOT MSVC)
@@ -109,7 +109,6 @@ list(APPEND BT_SOURCE
     src/condition_node.cpp
     src/control_node.cpp
     src/shared_library.cpp
-    src/shared_library_UNIX.cpp
     src/tree_node.cpp
     src/xml_parsing.cpp
 
@@ -139,8 +138,18 @@ if (NOT backward_ros_FOUND)
 endif()
 
 ######################################################
+if (UNIX)
+	list(APPEND BT_SOURCE src/shared_library_UNIX.cpp )
+	add_library(${BEHAVIOR_TREE_LIBRARY} SHARED ${BT_SOURCE} )
+endif()
+
+if (WIN32)
+	list(APPEND BT_SOURCE src/shared_library_WIN.cpp )
+	add_library(${BEHAVIOR_TREE_LIBRARY} STATIC ${BT_SOURCE} )
+endif()
+
+
 
-add_library(${BEHAVIOR_TREE_LIBRARY} SHARED ${BT_SOURCE} )
 target_link_libraries(${BEHAVIOR_TREE_LIBRARY} PUBLIC
     ${BEHAVIOR_TREE_EXTERNAL_LIBRARIES})
 

examples/CMakeLists.txt

@@ -1,5 +1,7 @@
 cmake_minimum_required(VERSION 2.8)
 
+include_directories( ../sample_nodes )
+
 
 # The plugin libdummy_nodes.so can be linked statically or
 # loaded dynamically at run-time.

include/behaviortree_cpp/bt_factory.h

@@ -33,9 +33,25 @@ typedef std::function<std::unique_ptr<TreeNode>(const std::string&, const NodeCo
 NodeBuilder;
 
 constexpr const char* PLUGIN_SYMBOL = "BT_RegisterNodesFromPlugin";
+
+#ifdef __linux__
+
 #define BT_REGISTER_NODES(factory)                                                                 \
     extern "C" void __attribute__((visibility("default")))                                         \
-    BT_RegisterNodesFromPlugin(BT::BehaviorTreeFactory& factory)
+        BT_RegisterNodesFromPlugin(BT::BehaviorTreeFactory& factory)
+
+#elif _WIN32
+
+	#ifdef WIN_EXPORT
+
+	#define BT_REGISTER_NODES(factory)                                                                 \
+		__declspec(dllexport) void BT_RegisterNodesFromPlugin(BT::BehaviorTreeFactory& factory)
+	#else
+	#define BT_REGISTER_NODES(factory)                                                                 \
+		static void BT_RegisterNodesFromPlugin(BT::BehaviorTreeFactory& factory)
+		#endif
+#endif
+
 
 /**
  * @brief Struct used to store a tree.

include/behaviortree_cpp/flatbuffers/bt_flatbuffer_helper.h

@@ -152,9 +152,9 @@ inline SerializedTransition SerializeTransition(uint16_t UID,
 {
     using namespace std::chrono;
     SerializedTransition buffer;
-    auto usec = duration_cast<microseconds>(timestamp).count();
-    uint32_t t_sec = usec / 1000000;
-    uint32_t t_usec = usec % 1000000;
+    int64_t usec = duration_cast<microseconds>(timestamp).count();
+    int64_t t_sec = usec / 1000000;
+    int64_t t_usec = usec % 1000000;
 
     flatbuffers::WriteScalar(&buffer[0], t_sec);
     flatbuffers::WriteScalar(&buffer[4], t_usec);