Use gtest instead of boost unit_test_framework

CMakeLists.txt

@@ -42,7 +42,7 @@ find_package(console_bridge 0.3 REQUIRED)
 include_directories(SYSTEM ${console_bridge_INCLUDE_DIRS})
 link_directories(${console_bridge_LIBRARY_DIRS})
 
-find_package(Boost REQUIRED system thread unit_test_framework)
+find_package(Boost REQUIRED system thread)
 include_directories(${Boost_INCLUDE_DIR})
 link_directories(${Boost_LIBRARY_DIRS})
 
@@ -52,6 +52,11 @@ if(MSVC)
 set(CMAKE_DEBUG_POSTFIX "d")
 endif(MSVC)
 
+# Control where libraries and executables are placed during the build
+set(CMAKE_RUNTIME_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/${CMAKE_INSTALL_BINDIR}")
+set(CMAKE_LIBRARY_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/${CMAKE_INSTALL_LIBDIR}")
+set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/${CMAKE_INSTALL_LIBDIR}")
+
 enable_testing()
 
 add_subdirectory(urdf_parser)

urdf_parser/CMakeLists.txt

@@ -28,10 +28,7 @@ target_link_libraries(urdf_to_graphiz urdfdom_model)
 add_executable(urdf_mem_test test/memtest.cpp)
 target_link_libraries(urdf_mem_test urdfdom_model)
 
-# unit test to fix geometry problems
-add_executable(urdf_unit_test test/urdf_unit_test.cpp)
-target_link_libraries(urdf_unit_test urdfdom_model ${Boost_LIBRARIES})
-add_test(urdf_unit_test urdf_unit_test)
+add_subdirectory(test)
 
 INSTALL(TARGETS urdfdom_model DESTINATION ${CMAKE_INSTALL_LIBDIR})
 INSTALL(TARGETS urdfdom_world DESTINATION ${CMAKE_INSTALL_LIBDIR})

urdf_parser/test/CMakeLists.txt

@@ -0,0 +1,45 @@
+include_directories (
+  ${CMAKE_CURRENT_SOURCE_DIR}/gtest/include
+  ${CMAKE_CURRENT_SOURCE_DIR}/gtest
+  ${CMAKE_CURRENT_SOURCE_DIR}
+)
+
+link_directories(
+  ${PROJECT_BINARY_DIR}/test
+)
+
+
+# Build gtest
+add_library(gtest STATIC gtest/src/gtest-all.cc)
+add_library(gtest_main STATIC gtest/src/gtest_main.cc)
+target_link_libraries(gtest_main gtest)
+
+execute_process(COMMAND cmake -E remove_directory ${CMAKE_BINARY_DIR}/test_results)
+execute_process(COMMAND cmake -E make_directory ${CMAKE_BINARY_DIR}/test_results)
+include_directories(${GTEST_INCLUDE_DIRS})
+
+# unit test to fix geometry problems
+set(tests
+     urdf_unit_test.cpp)
+
+#################################################
+# Build all the tests
+foreach(GTEST_SOURCE_file ${tests})
+  string(REGEX REPLACE ".cpp" "" BINARY_NAME ${GTEST_SOURCE_file})
+  add_executable(${BINARY_NAME} ${GTEST_SOURCE_file})
+
+  target_link_libraries(${BINARY_NAME}
+    gtest_main
+    gtest
+    urdfdom_model
+  )
+  if (UNIX)
+    target_link_libraries(${BINARY_NAME} pthread)
+  endif()
+
+  add_test(NAME    ${BINARY_NAME}
+           COMMAND ${BINARY_NAME}
+                   --gtest_output=xml:${CMAKE_BINARY_DIR}/test_results/${BINARY_NAME}.xml)
+
+  set_tests_properties(${BINARY_NAME} PROPERTIES TIMEOUT 240)
+endforeach()

urdf_parser/test/gtest/cmake/internal_utils.cmake

@@ -0,0 +1,227 @@
+# Defines functions and macros useful for building Google Test and
+# Google Mock.
+#
+# Note:
+#
+# - This file will be run twice when building Google Mock (once via
+#   Google Test's CMakeLists.txt, and once via Google Mock's).
+#   Therefore it shouldn't have any side effects other than defining
+#   the functions and macros.
+#
+# - The functions/macros defined in this file may depend on Google
+#   Test and Google Mock's option() definitions, and thus must be
+#   called *after* the options have been defined.
+
+# Tweaks CMake's default compiler/linker settings to suit Google Test's needs.
+#
+# This must be a macro(), as inside a function string() can only
+# update variables in the function scope.
+macro(fix_default_compiler_settings_)
+  if (MSVC)
+    # For MSVC, CMake sets certain flags to defaults we want to override.
+    # This replacement code is taken from sample in the CMake Wiki at
+    # http://www.cmake.org/Wiki/CMake_FAQ#Dynamic_Replace.
+    foreach (flag_var
+             CMAKE_CXX_FLAGS CMAKE_CXX_FLAGS_DEBUG CMAKE_CXX_FLAGS_RELEASE
+             CMAKE_CXX_FLAGS_MINSIZEREL CMAKE_CXX_FLAGS_RELWITHDEBINFO)
+      if (NOT BUILD_SHARED_LIBS AND NOT gtest_force_shared_crt)
+        # When Google Test is built as a shared library, it should also use
+        # shared runtime libraries.  Otherwise, it may end up with multiple
+        # copies of runtime library data in different modules, resulting in
+        # hard-to-find crashes. When it is built as a static library, it is
+        # preferable to use CRT as static libraries, as we don't have to rely
+        # on CRT DLLs being available. CMake always defaults to using shared
+        # CRT libraries, so we override that default here.
+        string(REPLACE "/MD" "-MT" ${flag_var} "${${flag_var}}")
+      endif()
+
+      # We prefer more strict warning checking for building Google Test.
+      # Replaces /W3 with /W4 in defaults.
+      string(REPLACE "/W3" "-W4" ${flag_var} "${${flag_var}}")
+    endforeach()
+  endif()
+endmacro()
+
+# Defines the compiler/linker flags used to build Google Test and
+# Google Mock.  You can tweak these definitions to suit your need.  A
+# variable's value is empty before it's explicitly assigned to.
+macro(config_compiler_and_linker)
+  if (NOT gtest_disable_pthreads)
+    # Defines CMAKE_USE_PTHREADS_INIT and CMAKE_THREAD_LIBS_INIT.
+    find_package(Threads)
+  endif()
+
+  fix_default_compiler_settings_()
+  if (MSVC)
+    # Newlines inside flags variables break CMake's NMake generator.
+    # TODO([email protected]): Add -RTCs and -RTCu to debug builds.
+    set(cxx_base_flags "-GS -W4 -WX -wd4127 -wd4251 -wd4275 -nologo -J -Zi")
+    if (MSVC_VERSION LESS 1400)
+      # Suppress spurious warnings MSVC 7.1 sometimes issues.
+      # Forcing value to bool.
+      set(cxx_base_flags "${cxx_base_flags} -wd4800")
+      # Copy constructor and assignment operator could not be generated.
+      set(cxx_base_flags "${cxx_base_flags} -wd4511 -wd4512")
+      # Compatibility warnings not applicable to Google Test.
+      # Resolved overload was found by argument-dependent lookup.
+      set(cxx_base_flags "${cxx_base_flags} -wd4675")
+    endif()
+    set(cxx_base_flags "${cxx_base_flags} -D_UNICODE -DUNICODE -DWIN32 -D_WIN32")
+    set(cxx_base_flags "${cxx_base_flags} -DSTRICT -DWIN32_LEAN_AND_MEAN")
+    set(cxx_exception_flags "-EHsc -D_HAS_EXCEPTIONS=1")
+    set(cxx_no_exception_flags "-D_HAS_EXCEPTIONS=0")
+    set(cxx_no_rtti_flags "-GR-")
+  elseif (CMAKE_COMPILER_IS_GNUCXX)
+    set(cxx_base_flags "-Wall -Wshadow")
+    set(cxx_exception_flags "-fexceptions")
+    set(cxx_no_exception_flags "-fno-exceptions")
+    # Until version 4.3.2, GCC doesn't define a macro to indicate
+    # whether RTTI is enabled.  Therefore we define GTEST_HAS_RTTI
+    # explicitly.
+    set(cxx_no_rtti_flags "-fno-rtti -DGTEST_HAS_RTTI=0")
+    set(cxx_strict_flags
+      "-Wextra -Wno-unused-parameter -Wno-missing-field-initializers")
+  elseif (CMAKE_CXX_COMPILER_ID STREQUAL "SunPro")
+    set(cxx_exception_flags "-features=except")
+    # Sun Pro doesn't provide macros to indicate whether exceptions and
+    # RTTI are enabled, so we define GTEST_HAS_* explicitly.
+    set(cxx_no_exception_flags "-features=no%except -DGTEST_HAS_EXCEPTIONS=0")
+    set(cxx_no_rtti_flags "-features=no%rtti -DGTEST_HAS_RTTI=0")
+  elseif (CMAKE_CXX_COMPILER_ID STREQUAL "VisualAge" OR
+      CMAKE_CXX_COMPILER_ID STREQUAL "XL")
+    # CMake 2.8 changes Visual Age's compiler ID to "XL".
+    set(cxx_exception_flags "-qeh")
+    set(cxx_no_exception_flags "-qnoeh")
+    # Until version 9.0, Visual Age doesn't define a macro to indicate
+    # whether RTTI is enabled.  Therefore we define GTEST_HAS_RTTI
+    # explicitly.
+    set(cxx_no_rtti_flags "-qnortti -DGTEST_HAS_RTTI=0")
+  elseif (CMAKE_CXX_COMPILER_ID STREQUAL "HP")
+    set(cxx_base_flags "-AA -mt")
+    set(cxx_exception_flags "-DGTEST_HAS_EXCEPTIONS=1")
+    set(cxx_no_exception_flags "+noeh -DGTEST_HAS_EXCEPTIONS=0")
+    # RTTI can not be disabled in HP aCC compiler.
+    set(cxx_no_rtti_flags "")
+  endif()
+
+  if (CMAKE_USE_PTHREADS_INIT)  # The pthreads library is available and allowed.
+    set(cxx_base_flags "${cxx_base_flags} -DGTEST_HAS_PTHREAD=1")
+  else()
+    set(cxx_base_flags "${cxx_base_flags} -DGTEST_HAS_PTHREAD=0")
+  endif()
+
+  # For building gtest's own tests and samples.
+  set(cxx_exception "${CMAKE_CXX_FLAGS} ${cxx_base_flags} ${cxx_exception_flags}")
+  set(cxx_no_exception
+    "${CMAKE_CXX_FLAGS} ${cxx_base_flags} ${cxx_no_exception_flags}")
+  set(cxx_default "${cxx_exception}")
+  set(cxx_no_rtti "${cxx_default} ${cxx_no_rtti_flags}")
+  set(cxx_use_own_tuple "${cxx_default} -DGTEST_USE_OWN_TR1_TUPLE=1")
+
+  # For building the gtest libraries.
+  set(cxx_strict "${cxx_default} ${cxx_strict_flags}")
+endmacro()
+
+# Defines the gtest & gtest_main libraries.  User tests should link
+# with one of them.
+function(cxx_library_with_type name type cxx_flags)
+  # type can be either STATIC or SHARED to denote a static or shared library.
+  # ARGN refers to additional arguments after 'cxx_flags'.
+  add_library(${name} ${type} ${ARGN})
+  set_target_properties(${name}
+    PROPERTIES
+    COMPILE_FLAGS "${cxx_flags}")
+  if (BUILD_SHARED_LIBS OR type STREQUAL "SHARED")
+    set_target_properties(${name}
+      PROPERTIES
+      COMPILE_DEFINITIONS "GTEST_CREATE_SHARED_LIBRARY=1")
+  endif()
+  if (CMAKE_USE_PTHREADS_INIT)
+    target_link_libraries(${name} ${CMAKE_THREAD_LIBS_INIT})
+  endif()
+endfunction()
+
+########################################################################
+#
+# Helper functions for creating build targets.
+
+function(cxx_shared_library name cxx_flags)
+  cxx_library_with_type(${name} SHARED "${cxx_flags}" ${ARGN})
+endfunction()
+
+function(cxx_library name cxx_flags)
+  cxx_library_with_type(${name} "" "${cxx_flags}" ${ARGN})
+endfunction()
+
+# cxx_executable_with_flags(name cxx_flags libs srcs...)
+#
+# creates a named C++ executable that depends on the given libraries and
+# is built from the given source files with the given compiler flags.
+function(cxx_executable_with_flags name cxx_flags libs)
+  add_executable(${name} ${ARGN})
+  if (cxx_flags)
+    set_target_properties(${name}
+      PROPERTIES
+      COMPILE_FLAGS "${cxx_flags}")
+  endif()
+  if (BUILD_SHARED_LIBS)
+    set_target_properties(${name}
+      PROPERTIES
+      COMPILE_DEFINITIONS "GTEST_LINKED_AS_SHARED_LIBRARY=1")
+  endif()
+  # To support mixing linking in static and dynamic libraries, link each
+  # library in with an extra call to target_link_libraries.
+  foreach (lib "${libs}")
+    target_link_libraries(${name} ${lib})
+  endforeach()
+endfunction()
+
+# cxx_executable(name dir lib srcs...)
+#
+# creates a named target that depends on the given libs and is built
+# from the given source files.  dir/name.cc is implicitly included in
+# the source file list.
+function(cxx_executable name dir libs)
+  cxx_executable_with_flags(
+    ${name} "${cxx_default}" "${libs}" "${dir}/${name}.cc" ${ARGN})
+endfunction()
+
+# Sets PYTHONINTERP_FOUND and PYTHON_EXECUTABLE.
+find_package(PythonInterp)
+
+# cxx_test_with_flags(name cxx_flags libs srcs...)
+#
+# creates a named C++ test that depends on the given libs and is built
+# from the given source files with the given compiler flags.
+function(cxx_test_with_flags name cxx_flags libs)
+  cxx_executable_with_flags(${name} "${cxx_flags}" "${libs}" ${ARGN})
+  add_test(${name} ${name})
+endfunction()
+
+# cxx_test(name libs srcs...)
+#
+# creates a named test target that depends on the given libs and is
+# built from the given source files.  Unlike cxx_test_with_flags,
+# test/name.cc is already implicitly included in the source file list.
+function(cxx_test name libs)
+  cxx_test_with_flags("${name}" "${cxx_default}" "${libs}"
+    "test/${name}.cc" ${ARGN})
+endfunction()
+
+# py_test(name)
+#
+# creates a Python test with the given name whose main module is in
+# test/name.py.  It does nothing if Python is not installed.
+function(py_test name)
+  # We are not supporting Python tests on Linux yet as they consider
+  # all Linux environments to be google3 and try to use google3 features.
+  if (PYTHONINTERP_FOUND)
+    # ${CMAKE_BINARY_DIR} is known at configuration time, so we can
+    # directly bind it from cmake. ${CTEST_CONFIGURATION_TYPE} is known
+    # only at ctest runtime (by calling ctest -c <Configuration>), so
+    # we have to escape $ to delay variable substitution here.
+    add_test(${name}
+      ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/test/${name}.py
+          --build_dir=${CMAKE_CURRENT_BINARY_DIR}/\${CTEST_CONFIGURATION_TYPE})
+  endif()
+endfunction()

urdf_parser/test/gtest/gtest-1.7.0.diff

@@ -0,0 +1,44 @@
+diff -r a5e72dd0ecf3 test/gtest/include/gtest/gtest-typed-test.h
+--- a/test/gtest/include/gtest/gtest-typed-test.h	Mon Nov 04 11:47:43 2013 -0800
++++ b/test/gtest/include/gtest/gtest-typed-test.h	Mon Nov 04 11:49:12 2013 -0800
+@@ -31,6 +31,7 @@
+
+ #ifndef GTEST_INCLUDE_GTEST_GTEST_TYPED_TEST_H_
+ #define GTEST_INCLUDE_GTEST_GTEST_TYPED_TEST_H_
++#pragma GCC system_header
+
+ // This header implements typed tests and type-parameterized tests.
+
+diff -r a5e72dd0ecf3 test/gtest/src/gtest.cc
+--- a/test/gtest/src/gtest.cc	Mon Nov 04 11:47:43 2013 -0800
++++ b/test/gtest/src/gtest.cc	Mon Nov 04 11:49:12 2013 -0800
+@@ -33,6 +33,7 @@
+
+ #include "gtest/gtest.h"
+ #include "gtest/gtest-spi.h"
++#pragma GCC system_header
+
+ #include <ctype.h>
+ #include <math.h>
+diff -r c33b44f8a9a1 test/gtest/include/gtest/internal/gtest-port.h
+--- a/test/gtest/include/gtest/internal/gtest-port.h	Wed Nov 06 11:23:38 2013 -0800
++++ b/test/gtest/include/gtest/internal/gtest-port.h	Wed Nov 06 17:12:57 2013 -0800
+@@ -39,6 +39,7 @@
+
+ #ifndef GTEST_INCLUDE_GTEST_INTERNAL_GTEST_PORT_H_
+ #define GTEST_INCLUDE_GTEST_INTERNAL_GTEST_PORT_H_
++#pragma GCC system_header
+
+ // The user can define the following macros in the build script to
+ // control Google Test's behavior.  If the user doesn't define a macro
+diff -r e980730656c1 test/gtest/include/gtest/gtest-printers.h
+--- a/test/gtest/include/gtest/gtest-printers.h	Wed Nov 06 17:13:57 2013 -0800
++++ b/test/gtest/include/gtest/gtest-printers.h	Thu Nov 07 09:29:28 2013 -0800
+@@ -94,6 +94,7 @@
+
+ #ifndef GTEST_INCLUDE_GTEST_GTEST_PRINTERS_H_
+ #define GTEST_INCLUDE_GTEST_GTEST_PRINTERS_H_
++#pragma GCC system_header
+
+ #include <ostream>  // NOLINT
+ #include <sstream>