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

Author: facontidavide

.github/workflows/cmake_windows.yml

@@ -23,11 +23,9 @@ jobs:
     - name: Install Conan
       id: conan
       uses: turtlebrowser/get-conan@main
-      with:
-        version: 1.59.0
 
     - name: Create default profile
-      run: conan profile new default --detect
+      run: conan profile detect
 
     - name: Create Build Environment
       # Some projects don't allow in-source building, so create a separate build directory

.github/workflows/pixi.yaml

@@ -2,53 +2,21 @@ name: Pixi (conda)
 
 on: [push, pull_request]
 
-env:
-  # Customize the CMake build type here (Release, Debug, RelWithDebInfo, etc.)
-  # Note if this value is changed, has to be manually updated in the `windows-latest` tests_command
-  BUILD_TYPE: Release
-
 jobs:
   pixi_conda_build:
     strategy:
       matrix:
-        include:
-        - os: windows-latest
-          build_depend: vs2022_win-64=19.*
-          tests_command: "'PATH=\\\"$PATH;build/Release\\\" build/tests/Release/behaviortree_cpp_test.exe'"
-        - os: ubuntu-latest
-          build_depend: "gxx=12.2.*"
-          tests_command: "./build/tests/behaviortree_cpp_test"
+        os:
+          - windows-latest
+          - ubuntu-latest
     runs-on: ${{ matrix.os }}
     steps:
       # Pixi is the tool used to create/manage conda environment
-      - uses: prefix-dev/setup-pixi@v0.4.1
-        with:
-          pixi-version: v0.7.0
-          locked: false
-          frozen: false
-          run-install: false
-          manifest-path: build-env/pixi.yaml
-      - name: Make pixi workspace
-        run: |
-          pixi init build-env
-      - name: Install dependencies
-        working-directory: ${{github.workspace}}/build-env
-        run: |
-          pixi add cmake zeromq=4.3.4 gtest=1.12.* gmock=1.12.* sqlite=3.40.* ${{ matrix.build-depend }}
-          pixi install
-      - name: Create Build Directory
-        working-directory: ${{github.workspace}}/build-env
-        run: mkdir build
       - uses: actions/checkout@v3
+      - uses: prefix-dev/setup-pixi@v0.4.1
         with:
-          path: build-env/BehaviorTree.CPP
+          pixi-version: v0.16.1
       - name: Build
-        working-directory: ${{github.workspace}}/build-env
-        run: |
-          pixi task add build "cd build; cmake ../BehaviorTree.CPP -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}}; cmake --build . --parallel --config ${{env.BUILD_TYPE}}"
-          pixi run build
+        run: pixi run build
       - name: Run tests
-        working-directory: ${{github.workspace}}/build-env
-        run: |
-          pixi task add tests ${{ matrix.tests_command }}
-          pixi run tests
+        run: pixi run test

.gitignore

@@ -11,3 +11,8 @@ CMakeSettings.json
 
 # OSX junk
 .DS_Store
+
+# pixi environments
+.pixi
+
+CMakeUserPresets.json

CMakeLists.txt

@@ -161,6 +161,7 @@ target_link_libraries(${BTCPP_LIBRARY}
         Threads::Threads
         ${CMAKE_DL_LIBS}
         $<BUILD_INTERFACE:foonathan::lexy>
+    PUBLIC
         ${BTCPP_EXTRA_LIBRARIES}
 )
 

README.md

@@ -4,6 +4,7 @@
 [![conan Windows](https://github.com/BehaviorTree/BehaviorTree.CPP/actions/workflows/cmake_windows.yml/badge.svg)](https://github.com/BehaviorTree/BehaviorTree.CPP/actions/workflows/cmake_windows.yml)
 [![ros1](https://github.com/BehaviorTree/BehaviorTree.CPP/workflows/ros1/badge.svg?branch=master)](https://github.com/BehaviorTree/BehaviorTree.CPP/actions?query=workflow%3Aros1)
 [![ros2](https://github.com/BehaviorTree/BehaviorTree.CPP/workflows/ros2/badge.svg?branch=master)](https://github.com/BehaviorTree/BehaviorTree.CPP/actions?query=workflow%3Aros2)
+[![pixi (Conda)](https://github.com/BehaviorTree/BehaviorTree.CPP/actions/workflows/pixi.yaml/badge.svg)](https://github.com/BehaviorTree/BehaviorTree.CPP/actions/workflows/pixi.yaml)
 
 # BehaviorTree.CPP 4.5
 
@@ -87,6 +88,11 @@ cmake ../BehaviorTree.CPP
 cmake --build . --parallel
 ```
 
+If you want to build in a [pixi](https://pixi.sh/) project (conda virtual environment).
+```
+pixi run build
+```
+
 If you want to use BT.CPP in your application, please refer to the
 example here: https://github.com/BehaviorTree/btcpp_sample .
 

include/behaviortree_cpp/json_export.h

@@ -49,11 +49,7 @@ namespace BT
 class JsonExporter
 {
 public:
-  static JsonExporter& get()
-  {
-    static JsonExporter global_instance;
-    return global_instance;
-  }
+  static JsonExporter& get();
 
   /**
    * @brief toJson adds the content of "any" to the JSON "destination".
@@ -100,15 +96,12 @@ template <typename T>
 inline void JsonExporter::addConverter()
 {
   ToJonConverter to_converter = [](const BT::Any& entry, nlohmann::json& dst) {
-    using namespace nlohmann;
-    to_json(dst, *const_cast<BT::Any&>(entry).castPtr<T>());
+    dst = *const_cast<BT::Any&>(entry).castPtr<T>();
   };
   to_json_converters_.insert({ typeid(T), to_converter });
 
-  FromJonConverter from_converter = [](const nlohmann::json& dst) -> Entry {
-    T value;
-    using namespace nlohmann;
-    from_json(dst, value);
+  FromJonConverter from_converter = [](const nlohmann::json& src) -> Entry {
+    T value = src.get<T>();
     return { BT::Any(value), BT::TypeInfo::Create<T>() };
   };