Merge branch 'master' of github.com:BehaviorTree/BehaviorTree.CPP

Author: facontidavide

CMakeLists.txt

@@ -74,7 +74,6 @@ else()
     include(cmake/conan_build.cmake)
 endif()
 
-
 #############################################################
 # LIBRARY
 
@@ -187,6 +186,7 @@ target_compile_definitions(${BTCPP_LIBRARY} PUBLIC BTCPP_LIBRARY_VERSION="${CMAK
 target_compile_features(${BTCPP_LIBRARY} PUBLIC cxx_std_17)
 
 if(MSVC)
+	target_compile_options(${BTCPP_LIBRARY} PRIVATE "/source-charset:utf-8")
 else()
     target_compile_options(${BTCPP_LIBRARY} PRIVATE -Wall -Wextra)
 endif()

sample_nodes/CMakeLists.txt

@@ -33,3 +33,15 @@ 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
     ${BTCPP_BIN_DESTINATION} )
+
+######################################################
+# INSTALL plugins for other packages to load
+
+INSTALL(TARGETS
+    crossdoor_nodes_dyn
+    dummy_nodes_dyn
+    movebase_node_dyn
+    LIBRARY DESTINATION share/${PROJECT_NAME}/bt_plugins
+    ARCHIVE DESTINATION share/${PROJECT_NAME}/bt_plugins
+    RUNTIME DESTINATION share/${PROJECT_NAME}/bt_plugins
+)

sample_nodes/crossdoor_nodes.cpp

@@ -74,3 +74,11 @@ void CrossDoor::reset()
   _door_locked = true;
   _pick_attempts = 0;
 }
+
+// This function must be implemented in the .cpp file to create
+// a plugin that can be loaded at run-time
+BT_REGISTER_NODES(factory)
+{
+  static CrossDoor cross_door;
+  cross_door.registerNodes(factory);
+}

src/xml_parsing.cpp

@@ -19,6 +19,12 @@
 #include <string>
 #include <typeindex>
 
+#if defined(_MSVC_LANG) && !defined(__clang__)
+#define __bt_cplusplus (_MSC_VER == 1900 ? 201103L : _MSVC_LANG)
+#else
+#define __bt_cplusplus __cplusplus
+#endif
+
 #if defined(__linux) || defined(__linux__)
 #pragma GCC diagnostic push
 #pragma GCC diagnostic ignored "-Wattributes"
@@ -254,7 +260,12 @@ void XMLParser::PImpl::loadDocImpl(XMLDocument* doc, bool add_includes)
       break;
     }
 
-    std::filesystem::path file_path(incl_node->Attribute("path"));
+#if __bt_cplusplus >= 202002L
+    auto file_path(std::filesystem::path(incl_node->Attribute("path")));
+#else
+    auto file_path(std::filesystem::u8path(incl_node->Attribute("path")));
+#endif
+
     const char* ros_pkg_relative_path = incl_node->Attribute("ros_pkg");
 
     if(ros_pkg_relative_path)