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update to use new memory_tools from osrf_testing_tools_cpp #238

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merged 10 commits into from
Jun 12, 2018
Merged

update to use new memory_tools from osrf_testing_tools_cpp #238

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68e7c70
remove old memory tools
wjwwood May 22, 2018
bf0f290
updates to use new memory_tools from osrf_testing_tools_cpp
wjwwood May 22, 2018
99cb41b
fixup new test
wjwwood May 22, 2018
5e41070
fix lambda captures for Windows
wjwwood May 22, 2018
9e44bd3
uncrustify fix
wjwwood May 23, 2018
076f4b3
extra_test_env -> rmw_implementation_env_var
dhood Jun 9, 2018
68d4f15
Stray extra_test_libraries
dhood Jun 9, 2018
42f1afc
Use default rmw impl outside of for_each_rmw_implementation loop
dhood Jun 9, 2018
89ddfd7
style fixup
wjwwood Jun 11, 2018
6f8b924
fix typo
wjwwood Jun 12, 2018
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1 change: 1 addition & 0 deletions rcl/package.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -35,6 +35,7 @@
<test_depend>rmw_implementation_cmake</test_depend>
<test_depend>launch</test_depend>
<test_depend>example_interfaces</test_depend>
<test_depend>osrf_testing_tools_cpp</test_depend>
<test_depend>std_msgs</test_depend>

<export>
Expand Down
114 changes: 63 additions & 51 deletions rcl/test/CMakeLists.txt
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Expand Up @@ -6,80 +6,82 @@ find_package(std_msgs REQUIRED)

find_package(rmw_implementation_cmake REQUIRED)

find_package(osrf_testing_tools_cpp REQUIRED)

get_target_property(memory_tools_ld_preload_env_var
osrf_testing_tools_cpp::memory_tools LIBRARY_PRELOAD_ENVIRONMENT_VARIABLE)

include(cmake/rcl_add_custom_executable.cmake)
include(cmake/rcl_add_custom_gtest.cmake)
include(cmake/rcl_add_custom_launch_test.cmake)

set(extra_test_libraries)
set(extra_test_env)
set(extra_lib_dirs "${rcl_lib_dir}")

# finding gtest once in the highest scope
# prevents finding it repeatedly in each local scope
ament_find_gtest()

# This subdirectory extends both extra_test_libraries, extra_test_env, and extra_lib_dirs.
add_subdirectory(memory_tools)

macro(test_target)
find_package(${rmw_implementation} REQUIRED)
test_target_function()
endmacro()

function(test_target_function)
message(STATUS "Creating tests for '${rmw_implementation}'")
list(APPEND extra_test_env RMW_IMPLEMENTATION=${rmw_implementation})
set(rmw_implementation_env_var RMW_IMPLEMENTATION=${rmw_implementation})

# Gtests

rcl_add_custom_gtest(test_client${target_suffix}
SRCS rcl/test_client.cpp
ENV ${extra_test_env}
INCLUDE_DIRS ${osrf_testing_tools_cpp_INCLUDE_DIRS}
ENV ${rmw_implementation_env_var}
APPEND_LIBRARY_DIRS ${extra_lib_dirs}
LIBRARIES ${PROJECT_NAME} ${extra_test_libraries}
LIBRARIES ${PROJECT_NAME}
AMENT_DEPENDENCIES ${rmw_implementation} "example_interfaces"
)

rcl_add_custom_gtest(test_time${target_suffix}
SRCS rcl/test_time.cpp
ENV ${extra_test_env}
ENV ${rmw_implementation_env_var} ${memory_tools_ld_preload_env_var}
APPEND_LIBRARY_DIRS ${extra_lib_dirs}
LIBRARIES ${PROJECT_NAME} ${extra_test_libraries}
LIBRARIES ${PROJECT_NAME} osrf_testing_tools_cpp::memory_tools
AMENT_DEPENDENCIES ${rmw_implementation}
)

rcl_add_custom_gtest(test_common${target_suffix}
SRCS rcl/test_common.cpp
ENV
${extra_test_env}
${rmw_implementation_env_var}
EMPTY_TEST=
NORMAL_TEST=foo
APPEND_LIBRARY_DIRS ${extra_lib_dirs}
LIBRARIES ${PROJECT_NAME} ${extra_test_libraries}
LIBRARIES ${PROJECT_NAME}
AMENT_DEPENDENCIES ${rmw_implementation}
)

rcl_add_custom_gtest(test_get_node_names${target_suffix}
SRCS rcl/test_get_node_names.cpp
ENV ${extra_test_env}
ENV ${rmw_implementation_env_var}
APPEND_LIBRARY_DIRS ${extra_lib_dirs}
LIBRARIES ${PROJECT_NAME} ${extra_test_libraries}
LIBRARIES ${PROJECT_NAME}
AMENT_DEPENDENCIES ${rmw_implementation}
)

rcl_add_custom_gtest(test_lexer${target_suffix}
SRCS rcl/test_lexer.cpp
ENV ${extra_test_env}
ENV ${rmw_implementation_env_var}
APPEND_LIBRARY_DIRS ${extra_lib_dirs}
LIBRARIES ${PROJECT_NAME} ${extra_test_libraries}
LIBRARIES ${PROJECT_NAME}
AMENT_DEPENDENCIES ${rmw_implementation}
)

rcl_add_custom_gtest(test_lexer_lookahead${target_suffix}
SRCS rcl/test_lexer_lookahead.cpp
ENV ${extra_test_env}
INCLUDE_DIRS ${osrf_testing_tools_cpp_INCLUDE_DIRS}
ENV ${rmw_implementation_env_var}
APPEND_LIBRARY_DIRS ${extra_lib_dirs}
LIBRARIES ${PROJECT_NAME} ${extra_test_libraries}
LIBRARIES ${PROJECT_NAME}
AMENT_DEPENDENCIES ${rmw_implementation}
)

Expand All @@ -93,118 +95,130 @@ function(test_target_function)
endif()
rcl_add_custom_gtest(test_graph${target_suffix}
SRCS rcl/test_graph.cpp
ENV ${extra_test_env}
INCLUDE_DIRS ${osrf_testing_tools_cpp_INCLUDE_DIRS}
ENV ${rmw_implementation_env_var}
APPEND_LIBRARY_DIRS ${extra_lib_dirs}
LIBRARIES ${PROJECT_NAME} ${extra_test_libraries}
LIBRARIES ${PROJECT_NAME}
AMENT_DEPENDENCIES ${rmw_implementation} "example_interfaces" "std_msgs"
${SKIP_TEST}
)

rcl_add_custom_gtest(test_rcl${target_suffix}
SRCS rcl/test_rcl.cpp
ENV ${extra_test_env}
ENV ${rmw_implementation_env_var} ${memory_tools_ld_preload_env_var}
APPEND_LIBRARY_DIRS ${extra_lib_dirs}
LIBRARIES ${PROJECT_NAME} ${extra_test_libraries}
LIBRARIES ${PROJECT_NAME} osrf_testing_tools_cpp::memory_tools
AMENT_DEPENDENCIES ${rmw_implementation}
)

rcl_add_custom_gtest(test_node${target_suffix}
SRCS rcl/test_node.cpp
ENV ${extra_test_env}
INCLUDE_DIRS ${osrf_testing_tools_cpp_INCLUDE_DIRS}
ENV ${rmw_implementation_env_var} ${memory_tools_ld_preload_env_var}
APPEND_LIBRARY_DIRS ${extra_lib_dirs}
LIBRARIES ${PROJECT_NAME} ${extra_test_libraries}
LIBRARIES ${PROJECT_NAME} osrf_testing_tools_cpp::memory_tools
AMENT_DEPENDENCIES ${rmw_implementation}
)

rcl_add_custom_gtest(test_arguments${target_suffix}
SRCS rcl/test_arguments.cpp
ENV ${extra_test_env}
ENV ${rmw_implementation_env_var}
APPEND_LIBRARY_DIRS ${extra_lib_dirs}
LIBRARIES ${PROJECT_NAME} ${extra_test_libraries}
LIBRARIES ${PROJECT_NAME}
)

rcl_add_custom_gtest(test_remap${target_suffix}
SRCS rcl/test_remap.cpp
ENV ${extra_test_env}
INCLUDE_DIRS ${osrf_testing_tools_cpp_INCLUDE_DIRS}
ENV ${rmw_implementation_env_var}
APPEND_LIBRARY_DIRS ${extra_lib_dirs}
LIBRARIES ${PROJECT_NAME} ${extra_test_libraries}
LIBRARIES ${PROJECT_NAME}
)

rcl_add_custom_gtest(test_remap_integration${target_suffix}
SRCS rcl/test_remap_integration.cpp
INCLUDE_DIRS ${osrf_testing_tools_cpp_INCLUDE_DIRS}
TIMEOUT 200
ENV ${extra_test_env}
ENV ${rmw_implementation_env_var}
APPEND_LIBRARY_DIRS ${extra_lib_dirs}
LIBRARIES ${PROJECT_NAME} ${extra_test_libraries}
LIBRARIES ${PROJECT_NAME}
AMENT_DEPENDENCIES "std_msgs" "example_interfaces"
)

rcl_add_custom_gtest(test_guard_condition${target_suffix}
SRCS rcl/test_guard_condition.cpp
ENV ${extra_test_env}
INCLUDE_DIRS ${osrf_testing_tools_cpp_INCLUDE_DIRS}
ENV ${rmw_implementation_env_var} ${memory_tools_ld_preload_env_var}
APPEND_LIBRARY_DIRS ${extra_lib_dirs}
LIBRARIES ${PROJECT_NAME} ${extra_test_libraries}
LIBRARIES ${PROJECT_NAME} osrf_testing_tools_cpp::memory_tools
AMENT_DEPENDENCIES ${rmw_implementation}
)

rcl_add_custom_gtest(test_publisher${target_suffix}
SRCS rcl/test_publisher.cpp
ENV ${extra_test_env}
INCLUDE_DIRS ${osrf_testing_tools_cpp_INCLUDE_DIRS}
ENV ${rmw_implementation_env_var}
APPEND_LIBRARY_DIRS ${extra_lib_dirs}
LIBRARIES ${PROJECT_NAME} ${extra_test_libraries}
LIBRARIES ${PROJECT_NAME}
AMENT_DEPENDENCIES ${rmw_implementation} "std_msgs"
)

rcl_add_custom_gtest(test_service${target_suffix}
SRCS rcl/test_service.cpp
ENV ${extra_test_env}
INCLUDE_DIRS ${osrf_testing_tools_cpp_INCLUDE_DIRS}
ENV ${rmw_implementation_env_var}
APPEND_LIBRARY_DIRS ${extra_lib_dirs}
LIBRARIES ${PROJECT_NAME} ${extra_test_libraries}
LIBRARIES ${PROJECT_NAME}
AMENT_DEPENDENCIES ${rmw_implementation} "example_interfaces"
)

rcl_add_custom_gtest(test_subscription${target_suffix}
SRCS rcl/test_subscription.cpp
ENV ${extra_test_env}
INCLUDE_DIRS ${osrf_testing_tools_cpp_INCLUDE_DIRS}
ENV ${rmw_implementation_env_var}
APPEND_LIBRARY_DIRS ${extra_lib_dirs}
LIBRARIES ${PROJECT_NAME} ${extra_test_libraries}
LIBRARIES ${PROJECT_NAME}
AMENT_DEPENDENCIES ${rmw_implementation} "std_msgs"
)

rcl_add_custom_gtest(test_wait${target_suffix}
SRCS rcl/test_wait.cpp
ENV ${extra_test_env}
INCLUDE_DIRS ${osrf_testing_tools_cpp_INCLUDE_DIRS}
ENV ${rmw_implementation_env_var}
APPEND_LIBRARY_DIRS ${extra_lib_dirs}
LIBRARIES ${PROJECT_NAME} ${extra_test_libraries}
LIBRARIES ${PROJECT_NAME}
AMENT_DEPENDENCIES ${rmw_implementation}
)

rcl_add_custom_gtest(test_namespace${target_suffix}
SRCS test_namespace.cpp
ENV ${extra_test_env}
INCLUDE_DIRS ${osrf_testing_tools_cpp_INCLUDE_DIRS}
ENV ${rmw_implementation_env_var}
APPEND_LIBRARY_DIRS ${extra_lib_dirs}
LIBRARIES ${PROJECT_NAME} ${extra_test_libraries}
LIBRARIES ${PROJECT_NAME}
AMENT_DEPENDENCIES ${rmw_implementation} "example_interfaces"
)

# Launch tests

rcl_add_custom_executable(service_fixture${target_suffix}
SRCS rcl/service_fixture.cpp
LIBRARIES ${PROJECT_NAME} ${extra_test_libraries}
INCLUDE_DIRS ${osrf_testing_tools_cpp_INCLUDE_DIRS}
LIBRARIES ${PROJECT_NAME}
AMENT_DEPENDENCIES ${rmw_implementation} "example_interfaces"
)

rcl_add_custom_executable(client_fixture${target_suffix}
SRCS rcl/client_fixture.cpp
LIBRARIES ${PROJECT_NAME} ${extra_test_libraries}
INCLUDE_DIRS ${osrf_testing_tools_cpp_INCLUDE_DIRS}
LIBRARIES ${PROJECT_NAME}
AMENT_DEPENDENCIES ${rmw_implementation} "example_interfaces"
)

rcl_add_custom_launch_test(test_services
service_fixture
client_fixture
ENV ${extra_test_env}
ENV ${rmw_implementation_env_var}
APPEND_LIBRARY_DIRS ${extra_lib_dirs}
TIMEOUT 15
)
Expand Down Expand Up @@ -249,21 +263,19 @@ call_for_each_rmw_implementation(test_target)

rcl_add_custom_gtest(test_validate_topic_name
SRCS rcl/test_validate_topic_name.cpp
ENV ${extra_test_env}
APPEND_LIBRARY_DIRS ${extra_lib_dirs}
LIBRARIES ${PROJECT_NAME} ${extra_test_libraries}
LIBRARIES ${PROJECT_NAME}
)

rcl_add_custom_gtest(test_expand_topic_name
SRCS rcl/test_expand_topic_name.cpp
ENV ${extra_test_env}
APPEND_LIBRARY_DIRS ${extra_lib_dirs}
LIBRARIES ${PROJECT_NAME} ${extra_test_libraries}
LIBRARIES ${PROJECT_NAME}
)

rcl_add_custom_gtest(test_timer${target_suffix}
SRCS rcl/test_timer.cpp
ENV ${extra_test_env}
INCLUDE_DIRS ${osrf_testing_tools_cpp_INCLUDE_DIRS}
APPEND_LIBRARY_DIRS ${extra_lib_dirs}
LIBRARIES ${PROJECT_NAME} ${extra_test_libraries}
LIBRARIES ${PROJECT_NAME}
)
41 changes: 0 additions & 41 deletions rcl/test/memory_tools/CMakeLists.txt
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