Handle and run unit tests

Author: jlblancoc

modules/mrpt_common/CMakeLists.txt

@@ -86,6 +86,13 @@ if ((NOT DETECTED_ROS2) AND (NOT DETECTED_ROS1))
 			DESTINATION
 				share/${PROJECT_NAME}/cmake
 	)
+	install(
+		DIRECTORY
+			${CMAKE_SOURCE_DIR}/common_sources
+			${CMAKE_SOURCE_DIR}/common_headers
+			DESTINATION
+				share/${PROJECT_NAME}/
+	)
 
 	# Provide make uninstall:
 	if (NOT TARGET uninstall)

modules/mrpt_common/cmake/mrpt_cmake_functions.cmake

@@ -10,6 +10,8 @@
 include(GNUInstallDirs) # for install dirs in multilib
 include(CMakePackageConfigHelpers)
 
+find_package(GTest QUIET)
+
 # This file defines utility CMake functions to ensure uniform settings all
 # accross MRPT modules, programs, and tests.
 # Usage:
@@ -408,12 +410,13 @@ function(mrpt_add_library)
     keep_matching_files_from_list(".*_unittest.cpp" lst_unittests)
     if(NOT "${lst_unittests}" STREQUAL "")
       # We have unit tests:
-      get_property(_lst_lib_test GLOBAL PROPERTY "MRPT_TEST_LIBS")
-      set_property(GLOBAL PROPERTY "MRPT_TEST_LIBS" ${_lst_lib_test} mrpt_${name})
-      set_property(GLOBAL PROPERTY "${MRPT_ADD_LIBRARY_TARGET}_UNIT_TEST_FILES" ${lst_unittests})
+      mrpt_add_test(
+        TARGET test_${MRPT_ADD_LIBRARY_TARGET}
+        SOURCES ${lst_unittests}
+        LINK_LIBRARIES ${MRPT_ADD_LIBRARY_TARGET}
+      )
     endif()
 
-
     # Enable SIMD especial instructions in especialized source files, even if
     # those instructions are NOT enabled globally for the entire build:
     handle_special_simd_flags("${MRPT_ADD_LIBRARY_SOURCES}" ".*\.SSE2.cpp"  "-msse2")
@@ -506,27 +509,35 @@ function(mrpt_add_test)
     set(multiValueArgs SOURCES LINK_LIBRARIES)
     cmake_parse_arguments(MRPT_ADD_TEST "" "${oneValueArgs}" "${multiValueArgs}" ${ARGN})
 
+    enable_testing()
     add_executable(${MRPT_ADD_TEST_TARGET}
       ${MRPT_ADD_TEST_SOURCES}
+      ${mrpt_common_DIR}/../common_sources/mrpt_test_main.cpp
     )
 
     # Define common flags:
     mrpt_set_target_build_options(${MRPT_ADD_TEST_TARGET})
     mrpt_configure_app(${MRPT_ADD_TEST_TARGET})
 
     # lib Dependencies:
-    if (MRPT_ADD_TEST_LINK_LIBRARIES)
-      target_link_libraries(
+    target_link_libraries(
       ${MRPT_ADD_TEST_TARGET}
       ${MRPT_ADD_TEST_LINK_LIBRARIES}
-      )
-    endif()
+      Threads::Threads
+      GTest::GTest
+    )
 
-    # Macro for source dir path:
-    target_compile_definitions(${MRPT_ADD_TEST_TARGET} PRIVATE
-        MRPT_MODULE_SOURCE_DIR=\"${CMAKE_CURRENT_SOURCE_DIR}\"
-        )
+    # Make common_headers visible:
+    target_include_directories(${MRPT_ADD_TEST_TARGET} PRIVATE ${mrpt_common_DIR}/../common_headers/)
 
+    # Macro for source dir path:
+    if (NOT "${CMAKE_SYSTEM_NAME}" STREQUAL "Emscripten")
+      target_compile_definitions(${MRPT_ADD_TEST_TARGET} PRIVATE CMAKE_UNITTEST_BASEDIR="${CMAKE_SOURCE_DIR}")
+    else()
+      # Use relative paths for embedded files:
+      target_compile_definitions(${MRPT_ADD_TEST_TARGET} PRIVATE CMAKE_UNITTEST_BASEDIR=".")
+    endif()
+  
     # Run it:
     #add_custom_target(run_${MRPT_ADD_TEST_TARGET} COMMAND $<TARGET_FILE:${MRPT_ADD_TEST_TARGET}>)
     add_test(${MRPT_ADD_TEST_TARGET}_build "${CMAKE_COMMAND}" --build ${CMAKE_CURRENT_BINARY_DIR} --target ${MRPT_ADD_TEST_TARGET})

tests/include/CTraitsTest.h renamed to modules/mrpt_common/common_headers/CTraitsTest.h

@@ -58,7 +58,8 @@ inline long round_long(const T value)
 template <class T>
 T round_10power(T val, int power10)
 {
-  long double F = ::pow((long double)10.0, -(long double)power10);
+  long double F =
+      std::pow<long double>(static_cast<long double>(10.0), -static_cast<long double>(power10));
   long int t = round_long(val * F);
   return T(t / F);
 }

tests/include/mrpt_test.h renamed to modules/mrpt_common/common_headers/mrpt_test.h

@@ -12,7 +12,7 @@
 
 TEST(constexpr_for, compileTest)
 {
-  int s = 0;
+  std::size_t s = 0;
   mrpt::for_<10>([&](auto i) { s += i.value; });
-  EXPECT_EQ(s, 10 * 9 / 2);
+  EXPECT_EQ(s, static_cast<size_t>((10 / 2) * 9));
 }

tests/include/test_mrpt_common.h renamed to modules/mrpt_common/common_headers/test_mrpt_common.h

@@ -122,13 +122,9 @@ TEST(exception, assertMacros)
   EXPECT_NO_THROW(ASSERT_NEAR_(1, 1, 0));
   EXPECT_ANY_THROW(ASSERT_NEAR_(1, 2, 0));
   EXPECT_ANY_THROW(ASSERT_NEAR_(10.0, 10.01, 0.001));
-  EXPECT_ANY_THROW(ASSERT_NEAR_(10.0, 10.01f, 0.001));
-  EXPECT_ANY_THROW(ASSERT_NEAR_(10.0, 10.01f, 0.001f));
-  EXPECT_ANY_THROW(ASSERT_NEAR_(10.0f, 10.01, 0.001f));
-  EXPECT_NO_THROW(ASSERT_NEAR_(10.0, 10.01f, 0.1));
-  EXPECT_NO_THROW(ASSERT_NEAR_(10.0f, 10.01f, 0.1));
-  EXPECT_NO_THROW(ASSERT_NEAR_(10.0f, 10.01, 0.1));
-  EXPECT_NO_THROW(ASSERT_NEAR_(10.0, 10.01f, 0.1f));
+  EXPECT_ANY_THROW(ASSERT_NEAR_(10.0f, 10.01f, 0.001f));
+  EXPECT_NO_THROW(ASSERT_NEAR_(10.0, 10.01, 0.1));
+  EXPECT_NO_THROW(ASSERT_NEAR_(10.0f, 10.01f, 0.1f));
 
   const std::array<double, 2> arr_dc = {10.0, 10.01};
   std::array<double, 2> arr_dnc = {10.0, 10.01};

tests/test_main.cpp renamed to modules/mrpt_common/common_sources/mrpt_test_main.cpp

@@ -36,21 +36,6 @@ include_directories("${MRPT_SOURCE_DIR}/tests/include")
 # Tests based on Google gtest:
 # -----------------------------
 
-# Include gtest from embedded lib:
-if (NOT CMAKE_MRPT_HAS_GTEST_SYSTEM)
-	include_directories("${CMAKE_MRPT_GTEST_SRC_DIR}/include/")
-endif()
-
-# If using system library, add C++ flags:
-if (NOT "${CMAKE_GTEST_CFLAGS}" STREQUAL "")
-	add_definitions(${CMAKE_GTEST_CFLAGS})
-endif ()
-
-if(MSVC)
-	# avoid MSVC pedantic warning on tr1. See: https://github.com/google/googletest/issues/1111
-	add_definitions(/D_SILENCE_TR1_NAMESPACE_DEPRECATION_WARNING)
-endif()
-
 get_property(LST_LIB_TESTS GLOBAL PROPERTY "MRPT_TEST_LIBS")
 foreach(_TSTLIB ${LST_LIB_TESTS})
 	string(REGEX REPLACE "mrpt_(.*)" "mrpt-\\1" _TSTLIB_DASH ${_TSTLIB})