fix warnings

BehaviorTree · Nov 23, 2022 · 41c1f2e · 41c1f2e
1 parent c74fa94
commit 41c1f2e
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Showing 20 changed files with 165 additions and 36 deletions.
diff --git a/btcpp_logo.png b/btcpp_logo.png
diff --git a/btcpp_logo.svg b/btcpp_logo.svg
diff --git a/tests/CMakeLists.txt b/tests/CMakeLists.txt
@@ -1,7 +1,7 @@
 ######################################################
 # TESTS
 
-include_directories(include)
+include_directories(include ${PROJECT_SOURCE_DIR}/3rdparty)
 
 set(BT_TESTS
   src/action_test_node.cpp

diff --git a/tests/gtest_factory.cpp b/tests/gtest_factory.cpp
@@ -77,7 +77,7 @@ static const char* xml_text_subtree = R"(
 
 static const char* xml_text_subtree_part1 = R"(
 
-<root>
+<root BTCPP_format="4">
   <BehaviorTree ID="MainTree">
     <Fallback name="root_selector">
       <SubTree ID="DoorClosedSubtree" />
@@ -88,7 +88,7 @@ static const char* xml_text_subtree_part1 = R"(
 
 static const char* xml_text_subtree_part2 = R"(
 
-<root>
+<root BTCPP_format="4">
   <BehaviorTree ID="DoorClosedSubtree">
     <Sequence name="door_sequence">
       <Decorator ID="Inverter">
@@ -168,7 +168,7 @@ TEST(BehaviorTreeFactory, Subtree)
 TEST(BehaviorTreeFactory, Issue7)
 {
   const std::string xml_text_issue = R"(
-<root>
+<root BTCPP_format="4">
     <BehaviorTree ID="ReceiveGuest">
     </BehaviorTree>
 </root> )";
@@ -183,7 +183,7 @@ TEST(BehaviorTreeFactory, Issue7)
 
 static const char* xml_ports_subtree = R"(
 
-<root BTCPP_format="4" format="4" main_tree_to_execute="MainTree">
+<root BTCPP_format="4" main_tree_to_execute="MainTree">
 
   <BehaviorTree ID="TalkToMe">
     <Sequence>

diff --git a/tests/gtest_logger_zmq.cpp b/tests/gtest_logger_zmq.cpp
@@ -7,7 +7,7 @@ TEST(LoggerZMQ, ZMQLoggerDeletesCleanlyAfterTickingTree)
 {
   // GIVEN we create a behavior tree through the BT factory and attach a ZMQ publisher to it
   static constexpr auto XML = R"(
-<root>
+<root BTCPP_format="4">
     <BehaviorTree>
     <SetBlackboard output_key="arg1" value="1" />
     </BehaviorTree>
@@ -30,7 +30,7 @@ TEST(LoggerZMQ, ZMQLoggerDeletesCleanlyAfterNotTickingTree)
 {
   // GIVEN we create a behavior tree through the BT factory and attach a ZMQ publisher to it
   static constexpr auto XML = R"(
-<root>
+<root BTCPP_format="4">
     <BehaviorTree>
     <SetBlackboard output_key="arg1" value="1" />
     </BehaviorTree>

diff --git a/tests/gtest_switch.cpp b/tests/gtest_switch.cpp
@@ -44,9 +44,9 @@ struct SwitchTest : testing::Test
   BT::NodeConfig simple_switch_config_;
 
   SwitchTest() :
-    action_1("action_1", milliseconds(100)),
-    action_42("action_42", milliseconds(100)),
-    action_def("action_default", milliseconds(100))
+    action_1("action_1", milliseconds(200)),
+    action_42("action_42", milliseconds(200)),
+    action_def("action_default", milliseconds(200))
   {
     BT::PortsRemapping input;
     input.insert(std::make_pair("variable", "{my_var}"));
@@ -78,7 +78,7 @@ TEST_F(SwitchTest, DefaultCase)
   ASSERT_EQ(NodeStatus::RUNNING, action_def.status());
   ASSERT_EQ(NodeStatus::RUNNING, state);
 
-  std::this_thread::sleep_for(milliseconds(110));
+  std::this_thread::sleep_for(milliseconds(300));
   state = root->executeTick();
 
   ASSERT_EQ(NodeStatus::IDLE, action_1.status());
@@ -97,7 +97,7 @@ TEST_F(SwitchTest, Case1)
   ASSERT_EQ(NodeStatus::IDLE, action_def.status());
   ASSERT_EQ(NodeStatus::RUNNING, state);
 
-  std::this_thread::sleep_for(milliseconds(110));
+  std::this_thread::sleep_for(milliseconds(300));
   state = root->executeTick();
 
   ASSERT_EQ(NodeStatus::IDLE, action_1.status());
@@ -116,7 +116,7 @@ TEST_F(SwitchTest, Case2)
   ASSERT_EQ(NodeStatus::IDLE, action_def.status());
   ASSERT_EQ(NodeStatus::RUNNING, state);
 
-  std::this_thread::sleep_for(milliseconds(110));
+  std::this_thread::sleep_for(milliseconds(300));
   state = root->executeTick();
 
   ASSERT_EQ(NodeStatus::IDLE, action_1.status());
@@ -135,7 +135,7 @@ TEST_F(SwitchTest, CaseNone)
   ASSERT_EQ(NodeStatus::RUNNING, action_def.status());
   ASSERT_EQ(NodeStatus::RUNNING, state);
 
-  std::this_thread::sleep_for(milliseconds(110));
+  std::this_thread::sleep_for(milliseconds(300));
   state = root->executeTick();
 
   ASSERT_EQ(NodeStatus::IDLE, action_1.status());
@@ -154,7 +154,7 @@ TEST_F(SwitchTest, CaseSwitchToDefault)
   ASSERT_EQ(NodeStatus::IDLE, action_def.status());
   ASSERT_EQ(NodeStatus::RUNNING, state);
 
-  std::this_thread::sleep_for(milliseconds(10));
+  std::this_thread::sleep_for(milliseconds(20));
   state = root->executeTick();
   ASSERT_EQ(NodeStatus::RUNNING, action_1.status());
   ASSERT_EQ(NodeStatus::IDLE, action_42.status());
@@ -163,22 +163,22 @@ TEST_F(SwitchTest, CaseSwitchToDefault)
 
   // Switch Node does not feels changes. Only when tick.
   // (not reactive)
-  std::this_thread::sleep_for(milliseconds(10));
+  std::this_thread::sleep_for(milliseconds(20));
   bb->set("my_var", "");
-  std::this_thread::sleep_for(milliseconds(10));
+  std::this_thread::sleep_for(milliseconds(20));
   ASSERT_EQ(NodeStatus::RUNNING, action_1.status());
   ASSERT_EQ(NodeStatus::IDLE, action_42.status());
   ASSERT_EQ(NodeStatus::IDLE, action_def.status());
   ASSERT_EQ(NodeStatus::RUNNING, root->status());
 
-  std::this_thread::sleep_for(milliseconds(10));
+  std::this_thread::sleep_for(milliseconds(20));
   state = root->executeTick();
   ASSERT_EQ(NodeStatus::IDLE, action_1.status());
   ASSERT_EQ(NodeStatus::IDLE, action_42.status());
   ASSERT_EQ(NodeStatus::RUNNING, action_def.status());
   ASSERT_EQ(NodeStatus::RUNNING, state);
 
-  std::this_thread::sleep_for(milliseconds(110));
+  std::this_thread::sleep_for(milliseconds(300));
   state = root->executeTick();
 
   ASSERT_EQ(NodeStatus::IDLE, action_1.status());
@@ -198,14 +198,14 @@ TEST_F(SwitchTest, CaseSwitchToAction2)
   ASSERT_EQ(NodeStatus::RUNNING, state);
 
   bb->set("my_var", "42");
-  std::this_thread::sleep_for(milliseconds(10));
+  std::this_thread::sleep_for(milliseconds(20));
   state = root->executeTick();
   ASSERT_EQ(NodeStatus::IDLE, action_1.status());
   ASSERT_EQ(NodeStatus::RUNNING, action_42.status());
   ASSERT_EQ(NodeStatus::IDLE, action_def.status());
   ASSERT_EQ(NodeStatus::RUNNING, state);
 
-  std::this_thread::sleep_for(milliseconds(110));
+  std::this_thread::sleep_for(milliseconds(300));
   state = root->executeTick();
 
   ASSERT_EQ(NodeStatus::IDLE, action_1.status());
@@ -226,7 +226,7 @@ TEST_F(SwitchTest, ActionFailure)
   ASSERT_EQ(NodeStatus::IDLE, action_def.status());
   ASSERT_EQ(NodeStatus::RUNNING, state);
 
-  std::this_thread::sleep_for(milliseconds(110));
+  std::this_thread::sleep_for(milliseconds(300));
   state = root->executeTick();
 
   ASSERT_EQ(NodeStatus::FAILURE, state);

diff --git a/tests/gtest_wakeup.cpp b/tests/gtest_wakeup.cpp
@@ -28,7 +28,7 @@ TEST(WakeUp, BasicTest)
 {
   static const char* xml_text = R"(
 
-<root>
+<root BTCPP_format="4">
     <BehaviorTree ID="MainTree">
         <FastAction/>
     </BehaviorTree>

diff --git a/tests/navigation_test.cpp b/tests/navigation_test.cpp
@@ -7,7 +7,7 @@ using namespace BT;
 // clang-format off
 static const char* xml_text = R"(
 
-<root main_tree_to_execute="BehaviorTree">
+<root  BTCPP_format="4" main_tree_to_execute="BehaviorTree">
     <BehaviorTree ID="BehaviorTree">
         <Fallback name="root">
 

diff --git a/tests/trees/child/child/child_child_no_include.xml b/tests/trees/child/child/child_child_no_include.xml
@@ -1,4 +1,4 @@
-<root main_tree_to_execute = "ChildChildNoInclude">
+<root BTCPP_format="4" main_tree_to_execute = "ChildChildNoInclude">
   <BehaviorTree ID="ChildChildNoInclude">
     <AlwaysSuccess />
   </BehaviorTree>

diff --git a/tests/trees/child/child_include_child.xml b/tests/trees/child/child_include_child.xml
@@ -1,4 +1,4 @@
-<root main_tree_to_execute = "ChildIncludeChild">
+<root BTCPP_format="4" main_tree_to_execute = "ChildIncludeChild">
   <include path="child/child_child_no_include.xml" />
 
   <BehaviorTree ID="ChildIncludeChild">

diff --git a/tests/trees/child/child_include_parent.xml b/tests/trees/child/child_include_parent.xml
@@ -1,4 +1,4 @@
-<root main_tree_to_execute = "ChildIncludeParent">
+<root BTCPP_format="4" main_tree_to_execute = "ChildIncludeParent">
   <include path="../parent_no_include.xml" />
 
   <BehaviorTree ID="ChildIncludeParent">

diff --git a/tests/trees/child/child_include_sibling.xml b/tests/trees/child/child_include_sibling.xml
@@ -1,4 +1,4 @@
-<root main_tree_to_execute = "ChildIncludeSibling">
+<root BTCPP_format="4" main_tree_to_execute = "ChildIncludeSibling">
   <include path="child_no_include.xml" />
 
   <BehaviorTree ID="ChildIncludeSibling">

diff --git a/tests/trees/child/child_no_include.xml b/tests/trees/child/child_no_include.xml
@@ -1,4 +1,4 @@
-<root main_tree_to_execute = "ChildNoInclude">
+<root BTCPP_format="4" main_tree_to_execute = "ChildNoInclude">
   <BehaviorTree ID="ChildNoInclude">
     <AlwaysSuccess />
   </BehaviorTree>

diff --git a/tests/trees/parent_include_child.xml b/tests/trees/parent_include_child.xml
@@ -1,4 +1,4 @@
-<root main_tree_to_execute = "ParentIncludeChild">
+<root BTCPP_format="4" main_tree_to_execute = "ParentIncludeChild">
   <include path="child/child_no_include.xml" />
 
   <BehaviorTree ID="ParentIncludeChild">

diff --git a/tests/trees/parent_include_child_include_child.xml b/tests/trees/parent_include_child_include_child.xml
@@ -1,4 +1,4 @@
-<root main_tree_to_execute = "ParentIncludeChildIncludeChild">
+<root BTCPP_format="4" main_tree_to_execute = "ParentIncludeChildIncludeChild">
   <include path="child/child_include_child.xml" />
 
   <BehaviorTree ID="ParentIncludeChildIncludeChild">

diff --git a/tests/trees/parent_include_child_include_parent.xml b/tests/trees/parent_include_child_include_parent.xml
@@ -1,4 +1,4 @@
-<root main_tree_to_execute = "ParentIncludeChildIncludeParent">
+<root BTCPP_format="4" main_tree_to_execute = "ParentIncludeChildIncludeParent">
   <include path="child/child_include_parent.xml" />
 
   <BehaviorTree ID="ParentIncludeChildIncludeParent">

diff --git a/tests/trees/parent_include_child_include_sibling.xml b/tests/trees/parent_include_child_include_sibling.xml
@@ -1,4 +1,4 @@
-<root main_tree_to_execute = "ParentIncludeChildIncludeSibling">
+<root BTCPP_format="4" main_tree_to_execute = "ParentIncludeChildIncludeSibling">
   <include path="child/child_include_sibling.xml" />
 
   <BehaviorTree ID="ParentIncludeChildIncludeSibling">

diff --git a/tests/trees/parent_no_include.xml b/tests/trees/parent_no_include.xml
@@ -1,4 +1,4 @@
-<root main_tree_to_execute = "ParentNoInclude">
+<root BTCPP_format="4" main_tree_to_execute = "ParentNoInclude">
   <BehaviorTree ID="ParentNoInclude">
     <AlwaysSuccess />
   </BehaviorTree>

diff --git a/tools/CMakeLists.txt b/tools/CMakeLists.txt
@@ -1,6 +1,6 @@
 cmake_minimum_required(VERSION 3.5)
 
-include_directories(${CMAKE_SOURCE_DIR}/3rdparty)
+include_directories(${PROJECT_SOURCE_DIR}/3rdparty)
 
 add_executable(bt3_log_cat         bt_log_cat.cpp )
 target_link_libraries(bt3_log_cat  ${BEHAVIOR_TREE_LIBRARY} )

diff --git a/tools/bt_recorder.cpp b/tools/bt_recorder.cpp
@@ -62,7 +62,8 @@ int main(int argc, char* argv[])
         zmq::message_t msg;
         try
         {
-            subscriber.recv(update, zmq::recv_flags::none);
+            auto ret = subscriber.recv(update, zmq::recv_flags::none);
+            (void)ret;
         }
         catch (zmq::error_t& e)
         {