fixed ncurses dependencies ( BehaviorTree#179 )

daf@blue-ocean-robotics.com · daf@blue-ocean-robotics.com · commit bfb868115069 · 2020-04-17T09:12:44.000+02:00
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -185,8 +185,9 @@ if(CURSES_FOUND)
     list(APPEND BT_SOURCE
         src/controls/manual_node.cpp
         )
+    list(APPEND BEHAVIOR_TREE_EXTERNAL_LIBRARIES ${CURSES_LIBRARIES})
+    add_definitions(-DNCURSES_FOUND)
 endif()
-list(APPEND BEHAVIOR_TREE_EXTERNAL_LIBRARIES ${CURSES_LIBRARIES})
 
 
 ######################################################
diff --git a/package.xml b/package.xml
@@ -20,6 +20,7 @@
   <depend condition="$ROS_VERSION == 2">rclcpp</depend>
 
   <depend>libzmq3-dev</depend>
+  <depend>libncurses-dev</depend>
 
   <export>
       <build_type condition="$ROS_VERSION == 1">catkin</build_type>
diff --git a/src/bt_factory.cpp b/src/bt_factory.cpp
@@ -55,8 +55,9 @@ BehaviorTreeFactory::BehaviorTreeFactory()
     registerNodeType<SwitchNode<5>>("Switch5");
     registerNodeType<SwitchNode<6>>("Switch6");
 
+#ifdef NCURSES_FOUND
     registerNodeType<ManualSelectorNode>("ManualSelector");
-
+#endif
     for( const auto& it: builders_)
     {
         builtin_IDs_.insert( it.first );
diff --git a/src/controls/manual_node.cpp b/src/controls/manual_node.cpp
@@ -117,6 +117,7 @@ NodeStatus ManualSelectorNode::selectStatus() const
 uint8_t ManualSelectorNode::selectChild() const
 {
     const size_t children_count = children_nodes_.size();
+
     std::vector<std::string> list;
     list.reserve(children_count);
     for(const auto& child: children_nodes_)
@@ -165,7 +166,7 @@ uint8_t ManualSelectorNode::selectChild() const
         }
         else if( ch == KEY_UP )
         {
-            row = ( row == 0) ? : row-1;
+            row = ( row == 0) ? (children_count-1) : row-1;
         }
         else if( ch == KEY_ENTER || ch == 10 )
         {

Original file line number	Diff line number	Diff line change
`@@ -185,8 +185,9 @@ if(CURSES_FOUND)`
`185`	`185`	`list(APPEND BT_SOURCE`
`186`	`186`	`src/controls/manual_node.cpp`
`187`	`187`	`)`
	`188`	`+ list(APPEND BEHAVIOR_TREE_EXTERNAL_LIBRARIES ${CURSES_LIBRARIES})`
	`189`	`+ add_definitions(-DNCURSES_FOUND)`
`188`	`190`	`endif()`
`189`		`-list(APPEND BEHAVIOR_TREE_EXTERNAL_LIBRARIES ${CURSES_LIBRARIES})`
`190`	`191`
`191`	`192`
`192`	`193`	`######################################################`
Original file line number	Diff line number	Diff line change
`@@ -117,6 +117,7 @@ NodeStatus ManualSelectorNode::selectStatus() const`
`117`	`117`	`uint8_t ManualSelectorNode::selectChild() const`
`118`	`118`	`{`
`119`	`119`	`const size_t children_count = children_nodes_.size();`
	`120`	`+`
`120`	`121`	`std::vector<std::string> list;`
`121`	`122`	`list.reserve(children_count);`
`122`	`123`	`for(const auto& child: children_nodes_)`
`@@ -165,7 +166,7 @@ uint8_t ManualSelectorNode::selectChild() const`
`165`	`166`	`}`
`166`	`167`	`else if( ch == KEY_UP )`
`167`	`168`	`{`
`168`		`- row = ( row == 0) ? : row-1;`
	`169`	`+ row = ( row == 0) ? (children_count-1) : row-1;`
`169`	`170`	`}`
`170`	`171`	`else if( ch == KEY_ENTER \|\| ch == 10 )`
`171`	`172`	`{`