Modify CMakeLists and README

.gitignore

@@ -2,3 +2,5 @@
 /build*
 /test_data/*_test.xml
 /test/CMakeLists.txt.user
+/bin
+/.vscode

CMakeLists.txt

@@ -8,6 +8,11 @@ endif()
 
 project(groot)
 
+set (CMAKE_PREFIX_PATH ${CMAKE_PREFIX_PATH}
+	"D:/Development/Qt/5.15.2/mingw81_64"
+	# "D:/Development/vcpkg/installed/x64-windows"
+)
+
 find_package(Qt5 COMPONENTS  Core Widgets Gui OpenGL Xml Svg)
 set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH}  "${CMAKE_CURRENT_LIST_DIR}/cmake")
 
@@ -81,8 +86,14 @@ set(CATKIN_ENABLE_TESTING OFF CACHE BOOL "")
 
 if(NOT catkin_FOUND AND NOT ament_cmake_FOUND)
     # look for BehaviorTree.CPP on the system
+    message(">>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>")
+    # set (BehaviorTreeV3_DIR "E:/Projects/_ref/BehaviorTree.CPP/build")
+    # set (BehaviorTreeV3_INCLUDE_DIRS "E:/Projects/_ref/BehaviorTree.CPP/include")
+    # set (BehaviorTreeV3_LIBRARIES "E:/Projects/_ref/BehaviorTree.CPP/build/bin")
+    # include_directories(${BehaviorTreeV3_INCLUDE_DIRS})
     find_package(BehaviorTreeV3)
     if (NOT BehaviorTree_FOUND)
+        message(">>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>")
         # use git submodule only if you are not compiling with catkin
         add_subdirectory( depend/BehaviorTree.CPP )
         include_directories( depend/BehaviorTree.CPP/include )
@@ -125,19 +136,37 @@ set(FORMS_UI
   ./bt_editor/custom_node_dialog.ui
   )
 
+# set (ZMQ_INCLUDE_DIRS "E:/Projects/_ref/libzmq/include")
+# set (ZMQ_LIBRARIES "E:/Projects/_ref/libzmq/build/lib")
+# include_directories(${ZMQ_INCLUDE_DIRS})
+
 find_package(ZMQ)
 
-if( ZMQ_FOUND )
-    message(STATUS "ZeroMQ found.")
-    add_definitions( -DZMQ_FOUND )
+if (NOT ZMQ_FOUND)
+    add_subdirectory( depend/libzmq )
+    include_directories( depend/libzmq/include )
 
-    set(APP_CPPS ${APP_CPPS} ./bt_editor/sidepanel_monitor.cpp )
-    set(FORMS_UI ${FORMS_UI} ./bt_editor/sidepanel_monitor.ui )
+    add_subdirectory( depend/cppzmq )
+    include_directories( depend/cppzmq )
 
-else()
-    message(WARNING "ZeroMQ NOT found. Real-time monitoring disabled.")
+    set(ZMQ_FOUND TRUE)
 endif()
 
+add_definitions( -DZMQ_FOUND )
+set(APP_CPPS ${APP_CPPS} ./bt_editor/sidepanel_monitor.cpp )
+set(FORMS_UI ${FORMS_UI} ./bt_editor/sidepanel_monitor.ui )
+
+# if( ZMQ_FOUND )
+#     message(STATUS "ZeroMQ found.")
+#     add_definitions( -DZMQ_FOUND )
+
+#     set(APP_CPPS ${APP_CPPS} ./bt_editor/sidepanel_monitor.cpp )
+#     set(FORMS_UI ${FORMS_UI} ./bt_editor/sidepanel_monitor.ui )
+
+# else()
+#     message(WARNING "ZeroMQ NOT found. Real-time monitoring disabled.") 
+# endif()
+
 QT5_WRAP_UI(FORMS_HEADERS ${FORMS_UI})
 
 add_library(behavior_tree_editor SHARED
@@ -160,12 +189,14 @@ if( ZMQ_FOUND )
 endif()
 
 target_link_libraries(behavior_tree_editor ${GROOT_DEPENDENCIES} )
+# target_link_libraries(behavior_tree_editor QtNodeEditor behaviortree_cpp_v3)
 
 
 add_executable(Groot ./bt_editor/main.cpp  ${RESOURCE_FILES})
-target_link_libraries(Groot behavior_tree_editor )
+# target_link_libraries(Groot behavior_tree_editor )
+target_link_libraries(Groot behaviortree_cpp_v3 behavior_tree_editor )
 
-add_subdirectory(test)
+# add_subdirectory(test)
 
 ######################################################
 # INSTALL

README.md

@@ -1,91 +1,23 @@
-[![Build Status](https://travis-ci.org/BehaviorTree/Groot.svg?branch=master)](https://travis-ci.org/BehaviorTree/Groot)
+# Groot (forked)
 
-# Groot 
++ This is a forked modified Groot repo by [Aoi-hosizora](https://github.com/Aoi-hosizora). This is used by SCUT xxx (private) project.
++ For old README, please visit [README_old.md](./README_old.md).
++ Note that depended [BehaviorTree.CPP](https://github.com/BehaviorTree/BehaviorTree.CPP), [cppzmq](https://github.com/zeromq/cppzmq) and [libzmq](https://github.com/zeromq/libzmq) are all submodule-deinited.
 
-**Groot** is a Graphical Editor, written in C++ and Qt, to create [BehaviorTrees](https://en.wikipedia.org/wiki/Behavior_tree).
+## Build Groot in Windows and MinGW-x64
 
-It is compliant with the the library [BehaviorTree.CPP](https://github.com/BehaviorTree/BehaviorTree.CPP).
+```bash
+# Change to Your Qt path (line 12)
+vim CMakeLists.txt
 
-[![Groot Editor](groot-screenshot.png)](https://vimeo.com/275066768)
+set PATH=D:\Development\Qt\5.15.2\mingw81_64\bin;%PATH%
+mkdir build
+cd build
 
+cmake .. -G "MinGW Makefiles"
+make -j8
 
-In the following video you can see how the C++ library and
-the graphic user interface are used to design and monitor a Behavior Tree.
-
-[![MOOD2Be](video_MOOD2Be.png)](https://vimeo.com/304651183)
-
-
-# Does your company use BehaviorTree.CPP and Groot?
-
-No company, institution or public/private funding is currently supporting the development of BehaviorTree.CPP and Groot. As a consequence, my time to support **BehaviorTree.CPP** is very limited and I decided that I won't spend any time at all supporting **Groot**.
-Pull Requests are welcome and will be reviewed, even if with some delay.
-
-If your company use this software, consider becoming a **sponsor** to support bug fixing and development of new features. You can find contact details in [package.xml](package.xml).
-
-# Dependencies, Installation, and Usage
-
-To compile the project you need:
-
-- [CMake 3.2](https://cmake.org/download)
-- Qt5 (tested with version 5.5.1), including the SVG module.
-
-On Ubuntu Xenial or later, you can install the dependencies with:
-
-       sudo apt install qtbase5-dev libqt5svg5-dev libzmq3-dev libdw-dev
-      
-Some functionalities of the code related to ROS will work __only__ if the
-project is compiled with with _catkin_.
-
-# Compilation instructions (Linux)
-
-       git clone https://github.com/BehaviorTree/Groot.git
-       cd Groot
-       git submodule update --init --recursive
-       mkdir build; cd build
-       cmake ..
-       make
-       
- Note compiling "in-source" is not allowed.   
-
- # Compilation instructions (ROS)
-
-       mkdir -p catkin_ws/src
-       cd catkin_ws/src
-       git clone https://github.com/BehaviorTree/Groot.git
-       cd ..
-       rosdep install --from-paths src --ignore-src
-       catkin_make  
-
-# Licence       
-
-Copyright (c) 2018-2019 FUNDACIO EURECAT 
-
-Permission is hereby granted, free of charge, to any person obtaining a 
-copy of this software and associated documentation files (the "Software"), 
-to deal in the Software without restriction, including without limitation 
-the rights to use, copy, modify, merge, publish, distribute, sublicense, 
-and/or sell copies of the Software, and to permit persons to whom the 
-Software is furnished to do so, subject to the following conditions:
-
-The above copyright notice and this permission notice shall be included 
-in all copies or substantial portions of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS 
-OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 
-FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL 
-THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 
-LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING 
-FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER 
-DEALINGS IN THE SOFTWARE.
-
-
-# Acknowledgment
-
-This project is one of the main components of [MOOD2Be](https://eurecat.org/es/portfolio-items/mood2be/),
-and it is developed at [Eurecat](https://eurecat.org) by Davide Faconti.
-
-MOOD2Be is one of the six **Integrated Technical Projects (ITPs)** selected from the [RobMoSys first open call](https://robmosys.eu/itp/). 
-
-It received funding from the European Union’s Horizon 2020 Research and Innovation Programme
-under the RobMoSys project.
-
+# make 中途可能会报未找到 `-lzmq` 的错误
+# 需要把已经编译出来的 build\depend\libzmq\lib 的 libzmq.a 和 libzmq.dll.a 复制到 mingw 的 lib 下，然后继续编译即可
+# xxx\mingw-w64\x86_64-8.1.0-posix-seh-rt_v6-rev0\mingw64\lib
+```

README_old.md

@@ -0,0 +1,91 @@
+[![Build Status](https://travis-ci.org/BehaviorTree/Groot.svg?branch=master)](https://travis-ci.org/BehaviorTree/Groot)
+
+# Groot 
+
+**Groot** is a Graphical Editor, written in C++ and Qt, to create [BehaviorTrees](https://en.wikipedia.org/wiki/Behavior_tree).
+
+It is compliant with the the library [BehaviorTree.CPP](https://github.com/BehaviorTree/BehaviorTree.CPP).
+
+[![Groot Editor](groot-screenshot.png)](https://vimeo.com/275066768)
+
+
+In the following video you can see how the C++ library and
+the graphic user interface are used to design and monitor a Behavior Tree.
+
+[![MOOD2Be](video_MOOD2Be.png)](https://vimeo.com/304651183)
+
+
+# Does your company use BehaviorTree.CPP and Groot?
+
+No company, institution or public/private funding is currently supporting the development of BehaviorTree.CPP and Groot. As a consequence, my time to support **BehaviorTree.CPP** is very limited and I decided that I won't spend any time at all supporting **Groot**.
+Pull Requests are welcome and will be reviewed, even if with some delay.
+
+If your company use this software, consider becoming a **sponsor** to support bug fixing and development of new features. You can find contact details in [package.xml](package.xml).
+
+# Dependencies, Installation, and Usage
+
+To compile the project you need:
+
+- [CMake 3.2](https://cmake.org/download)
+- Qt5 (tested with version 5.5.1), including the SVG module.
+
+On Ubuntu Xenial or later, you can install the dependencies with:
+
+       sudo apt install qtbase5-dev libqt5svg5-dev libzmq3-dev libdw-dev
+      
+Some functionalities of the code related to ROS will work __only__ if the
+project is compiled with with _catkin_.
+
+# Compilation instructions (Linux)
+
+       git clone https://github.com/BehaviorTree/Groot.git
+       cd Groot
+       git submodule update --init --recursive
+       mkdir build; cd build
+       cmake ..
+       make
+       
+ Note compiling "in-source" is not allowed.   
+
+ # Compilation instructions (ROS)
+
+       mkdir -p catkin_ws/src
+       cd catkin_ws/src
+       git clone https://github.com/BehaviorTree/Groot.git
+       cd ..
+       rosdep install --from-paths src --ignore-src
+       catkin_make  
+
+# Licence       
+
+Copyright (c) 2018-2019 FUNDACIO EURECAT 
+
+Permission is hereby granted, free of charge, to any person obtaining a 
+copy of this software and associated documentation files (the "Software"), 
+to deal in the Software without restriction, including without limitation 
+the rights to use, copy, modify, merge, publish, distribute, sublicense, 
+and/or sell copies of the Software, and to permit persons to whom the 
+Software is furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included 
+in all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS 
+OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL 
+THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING 
+FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER 
+DEALINGS IN THE SOFTWARE.
+
+
+# Acknowledgment
+
+This project is one of the main components of [MOOD2Be](https://eurecat.org/es/portfolio-items/mood2be/),
+and it is developed at [Eurecat](https://eurecat.org) by Davide Faconti.
+
+MOOD2Be is one of the six **Integrated Technical Projects (ITPs)** selected from the [RobMoSys first open call](https://robmosys.eu/itp/). 
+
+It received funding from the European Union’s Horizon 2020 Research and Innovation Programme
+under the RobMoSys project.
+

depend/BehaviorTree.CPP/3rdparty/minitrace/minitrace.cpp

@@ -9,6 +9,9 @@
 #include <stdio.h>
 #include <string.h>
 
+#define __STDC_FORMAT_MACROS
+#include <inttypes.h>
+
 #ifdef _WIN32
 #pragma warning (disable:4996)
 #define WIN32_LEAN_AND_MEAN

depend/BehaviorTree.CPP/CMakeLists.txt

@@ -13,8 +13,6 @@ if(MSVC)
     add_definitions(-D_CRT_SECURE_NO_WARNINGS)
 endif()
 
-add_definitions(-Wpedantic)
-
 #---- Include boost to add coroutines ----
 find_package(Boost COMPONENTS coroutine QUIET)
 
@@ -42,7 +40,7 @@ set(CMAKE_POSITION_INDEPENDENT_CODE ON)
 
 #---- project configuration ----
 option(BUILD_EXAMPLES   "Build tutorials and examples" ON)
-option(BUILD_UNIT_TESTS "Build the unit tests" ON)
+option(BUILD_UNIT_TESTS "Build the unit tests" OFF)
 option(BUILD_TOOLS "Build commandline tools" ON)
 option(BUILD_SHARED_LIBS "Build shared libraries" ON)
 
@@ -235,6 +233,7 @@ if( ZMQ_FOUND )
 endif()
 
 if(MSVC)
+    target_compile_options(${BEHAVIOR_TREE_LIBRARY} PRIVATE /W3 /WX)
 else()
     target_compile_options(${BEHAVIOR_TREE_LIBRARY} PRIVATE
         -Wall -Wextra -Werror=return-type)

depend/cppzmq/CMakeLists.txt

@@ -96,12 +96,12 @@ install(FILES ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}Config.cmake
 install(FILES ${CMAKE_CURRENT_SOURCE_DIR}/libzmq-pkg-config/FindZeroMQ.cmake
               DESTINATION ${CPPZMQ_CMAKECONFIG_INSTALL_DIR}/libzmq-pkg-config)
 
-option(CPPZMQ_BUILD_TESTS "Whether or not to build the tests" ON)
-
-if (CPPZMQ_BUILD_TESTS)
-    enable_testing()
-    add_subdirectory(tests)
-    if (CMAKE_CXX_STANDARD AND NOT CMAKE_CXX_STANDARD EQUAL 98 AND CMAKE_CXX_STANDARD GREATER_EQUAL 11)
-        add_subdirectory(examples)
-    endif()
-endif()
+# option(CPPZMQ_BUILD_TESTS "Whether or not to build the tests" OFF)
+
+# if (CPPZMQ_BUILD_TESTS)
+#     enable_testing()
+#     add_subdirectory(tests)
+#     if (CMAKE_CXX_STANDARD AND NOT CMAKE_CXX_STANDARD EQUAL 98 AND CMAKE_CXX_STANDARD GREATER_EQUAL 11)
+#         add_subdirectory(examples)
+#     endif()
+# endif()