unit tests should work now

Author: markusgft

.travis.yml

@@ -81,7 +81,8 @@ script:
   - source /opt/ros/$ROS_DISTRO/setup.bash
   - cd ~/catkin_ws
   - catkin clean --all
-  - catkin build -DCMAKE_BUILD_TYPE=Release -DCMAKE_CXX_FLAGS="-w"
+  - catkin config --blacklist ct_doc
+  - catkin build -DBUILD_TESTS=true -DCMAKE_BUILD_TYPE=Release -DCMAKE_CXX_FLAGS="-w"
   # Run the tests, ensuring the path is set correctly.
   # we do not want to run the kindr tests
   - catkin config --blacklist kindr

ct_core/doc/CMakeLists.txt

@@ -15,4 +15,5 @@ if(DOXYGEN_FOUND)
         COMMAND ${CMAKE_COMMAND} -E echo_append "API Documentation built in ${CMAKE_CURRENT_SOURCE_DIR}"
         VERBATIM)
 
+    install(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/html DESTINATION share/ct_core/doc)
 endif()

ct_core/test/CMakeLists.txt

@@ -5,6 +5,7 @@ macro(package_add_test TESTNAME)
     target_link_libraries(${TESTNAME} gtest gtest_main ct_core)
     add_test(NAME ${TESTNAME} COMMAND ${TESTNAME})
     set_target_properties(${TESTNAME} PROPERTIES FOLDER test)
+    list(APPEND UNIT_TEST_TARGETS ${TESTNAME})
 endmacro()
 
 
@@ -30,3 +31,12 @@ if(USE_PRESPEC)
     package_add_test(IntegrationTestPrespec integration/IntegrationTestPrespec.cpp)
     package_add_test(IntegratorComparisonPrespec integration/IntegratorComparisonPrespec.cpp)
 endif(USE_PRESPEC)
+
+
+# Run all unit tests post-build.
+add_custom_target(run_tests ALL DEPENDS ${UNIT_TEST_TARGETS})
+add_custom_command(TARGET run_tests 
+    COMMENT "Running tests"
+    POST_BUILD COMMAND ${PROJECT_SOURCE_DIR}/test/run_tests.py ${CMAKE_CURRENT_BINARY_DIR} ${UNIT_TEST_TARGETS}
+    WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
+    )

ct_core/test/run_tests.py

@@ -0,0 +1,41 @@
+#!/usr/bin/env python
+
+from __future__ import print_function
+
+import os
+import sys
+import subprocess
+
+def main(argv=sys.argv[1:]):
+    working_dir = argv[0]
+    tests = argv[1:]
+    print("Working directory: {}".format(working_dir))
+    print("Running tests: ", tests)
+
+    test_dir = working_dir + "/test_results"
+    if not os.path.exists(test_dir):
+      os.makedirs(test_dir)
+    
+    for the_file in os.listdir(test_dir):
+      file_path = os.path.join(test_dir, the_file)
+      try:
+          if os.path.isfile(file_path):
+              os.unlink(file_path)
+      except Exception, e:
+          print(e)
+    
+    commands = []
+    
+    for cmd in tests:
+        test_cmd = "./" + cmd + " --gtest_output=xml:" + working_dir + "/test_results/"
+        print("Running: ", test_cmd)
+        rc = subprocess.call(test_cmd, cwd=working_dir, shell=True)
+        
+        commands.insert(0, test_cmd)
+            
+    print("Ran the following commands: ")
+    for cmd in commands:
+      print("-- ", cmd)
+
+if __name__ == '__main__':
+    sys.exit(main())

ct_doc/CMakeLists.txt

@@ -1,12 +1,15 @@
-cmake_minimum_required (VERSION 2.6) 
+cmake_minimum_required (VERSION 3.3)
 
-project (ct_doc) 
+project (ct_doc VERSION 3.0.0 ) 
 
-find_package(catkin REQUIRED)
+set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake")
 
-catkin_package(
-    CATKIN_DEPENDS ct_core ct_optcon ct_rbd ct_models
-)
+
+## find and include required dependencies
+find_package(ct_core REQUIRED)
+find_package(ct_optcon REQUIRED)
+find_package(ct_rbd REQUIRED)
+find_package(ct_models REQUIRED)
 
 find_package(Doxygen)
 if(DOXYGEN_FOUND)
@@ -23,16 +26,11 @@ if(DOXYGEN_FOUND)
         COMMAND ${CMAKE_COMMAND} -E echo_append "API Documentation built in ${CMAKE_CURRENT_SOURCE_DIR}/doc"
 #       COMMAND sensible-browser ${CMAKE_CURRENT_SOURCE_DIR}/doc/html/index.html
         VERBATIM)
+
+    install(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/doc/html DESTINATION share/ct_doc/doc)
 endif()
 
 
 add_custom_target(clang-format
         COMMAND ${CMAKE_COMMAND} -E echo_append ""
-        VERBATIM)
-
-add_custom_target(clang-tidy
-        COMMAND ${CMAKE_COMMAND} -E echo_append ""
-        VERBATIM)    
-
-
-    
+        VERBATIM)

ct_doc/doc/tags/.gitkeep

@@ -1,25 +1,25 @@
-<package>
+<package format="2">
   <name>ct_doc</name>
-  <version>0.3.0</version>
+  <version>3.0.0</version>
   <description>
-  ADRL control toolbox - Documentation
+    Control toolbox - Documentation
   </description>
-  
-  <maintainer email="neunertm@gmail.com">Michael Neunert</maintainer>
-  <maintainer email="mgiftthaler@ethz.ch">Markus Giftthaler</maintainer>
-  
+
+  <maintainer email="markusgft@gmail.com">Markus Giftthaler</maintainer>
+
   <license>BSD-2</license>
-  
-  <buildtool_depend>catkin</buildtool_depend>
-  
-  <build_depend>ct_core</build_depend>
-  <build_depend>ct_optcon</build_depend>
-  <build_depend>ct_rbd</build_depend>
-  <build_depend>ct_models</build_depend>
-  
-  <run_depend>ct_core</run_depend>
-  <run_depend>ct_optcon</run_depend>
-  <run_depend>ct_rbd</run_depend>
-  <run_depend>ct_models</run_depend>
-  
+
+  <buildtool_depend>cmake</buildtool_depend>
+
+  <depend>ct_core</depend>
+  <depend>ct_optcon</depend>
+  <depend>ct_rbd</depend>
+  <depend>ct_models</depend>
+
+  <exec_depend>catkin</exec_depend>  <!-- ROS compatibility-->
+
+  <export>    <!-- Specify that this is not a ROS package-->
+    <build_type>cmake</build_type>
+  </export>
+
 </package>

ct_doc/package.xml

@@ -11,4 +11,6 @@ if(DOXYGEN_FOUND)
         WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
         COMMAND ${CMAKE_COMMAND} -E echo_append "API Documentation built in ${CMAKE_CURRENT_SOURCE_DIR}"
         VERBATIM)
+
+    install(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/html DESTINATION share/ct_models/doc)
 endif()

ct_models/doc/CMakeLists.txt

@@ -2,6 +2,7 @@ macro(package_add_test TESTNAME)
     add_executable(${TESTNAME} ${ARGN})
     add_test(NAME ${TESTNAME} COMMAND ${TESTNAME})
     set_target_properties(${TESTNAME} PROPERTIES FOLDER test)
+    list(APPEND UNIT_TEST_TARGETS ${TESTNAME})
 endmacro()
 
 
@@ -19,4 +20,13 @@ target_link_libraries(ikfast_test_irb gtest gtest_main irb4600_ik ct_rbd)
 
 package_add_test(ikfast_test_hya IKFast/IKFastTestHyA.cpp)
 target_include_directories(ikfast_test_hya PUBLIC ${ct_models_target_include_dirs})
-target_link_libraries(ikfast_test_hya gtest gtest_main hya_ik ct_rbd)
+target_link_libraries(ikfast_test_hya gtest gtest_main hya_ik ct_rbd)
+
+
+# Run all unit tests post-build.
+add_custom_target(run_tests ALL DEPENDS ${UNIT_TEST_TARGETS})
+add_custom_command(TARGET run_tests 
+    COMMENT "Running tests"
+    POST_BUILD COMMAND ${PROJECT_SOURCE_DIR}/test/run_tests.py ${CMAKE_CURRENT_BINARY_DIR} ${UNIT_TEST_TARGETS}
+    WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
+    )

ct_models/test/CMakeLists.txt

@@ -0,0 +1,41 @@
+#!/usr/bin/env python
+
+from __future__ import print_function
+
+import os
+import sys
+import subprocess
+
+def main(argv=sys.argv[1:]):
+    working_dir = argv[0]
+    tests = argv[1:]
+    print("Working directory: {}".format(working_dir))
+    print("Running tests: ", tests)
+
+    test_dir = working_dir + "/test_results"
+    if not os.path.exists(test_dir):
+      os.makedirs(test_dir)
+    
+    for the_file in os.listdir(test_dir):
+      file_path = os.path.join(test_dir, the_file)
+      try:
+          if os.path.isfile(file_path):
+              os.unlink(file_path)
+      except Exception, e:
+          print(e)
+    
+    commands = []
+    
+    for cmd in tests:
+        test_cmd = "./" + cmd + " --gtest_output=xml:" + working_dir + "/test_results/"
+        print("Running: ", test_cmd)
+        rc = subprocess.call(test_cmd, cwd=working_dir, shell=True)
+        
+        commands.insert(0, test_cmd)
+            
+    print("Ran the following commands: ")
+    for cmd in commands:
+      print("-- ", cmd)
+
+if __name__ == '__main__':
+    sys.exit(main())