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Added cartographer test library to CMake project (#1129) 

Fake, mock and test helpers are now compiled into a test library.

This should resolve #1128. The bazel build file was updated in #1101.
master
Martin Schwörer 2018-04-30 18:02:54 +02:00 committed by Wally B. Feed
parent 13d9754155
commit 913b1b5856
1 changed files with 43 additions and 27 deletions
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70
CMakeLists.txt
View File

@ -59,6 +59,8 @@ install(DIRECTORY cmake DESTINATION share/cartographer/)
file(GLOB_RECURSE ALL_LIBRARY_HDRS "cartographer/*.h")
file(GLOB_RECURSE ALL_LIBRARY_SRCS "cartographer/*.cc")
file(GLOB_RECURSE TEST_LIBRARY_HDRS "cartographer/fake_*.h" "cartographer/*test_helpers*.h" "cartographer/mock_*.h")
file(GLOB_RECURSE TEST_LIBRARY_SRCS "cartographer/fake_*.cc" "cartographer/*test_helpers*.cc" "cartographer/mock_*.cc")
file(GLOB_RECURSE ALL_TESTS "cartographer/*_test.cc")
file(GLOB_RECURSE ALL_EXECUTABLES "cartographer/*_main.cc")
@ -67,24 +69,31 @@ file(GLOB_RECURSE ALL_DOTFILES ".*/*")
if (ALL_DOTFILES)
list(REMOVE_ITEM ALL_LIBRARY_HDRS ${ALL_DOTFILES})
list(REMOVE_ITEM ALL_LIBRARY_SRCS ${ALL_DOTFILES})
list(REMOVE_ITEM TEST_LIBRARY_HDRS ${ALL_DOTFILES})
list(REMOVE_ITEM TEST_LIBRARY_SRCS ${ALL_DOTFILES})
list(REMOVE_ITEM ALL_TESTS ${ALL_DOTFILES})
list(REMOVE_ITEM ALL_EXECUTABLES ${ALL_DOTFILES})
endif()
list(REMOVE_ITEM ALL_LIBRARY_SRCS ${ALL_TESTS})
list(REMOVE_ITEM ALL_LIBRARY_SRCS ${ALL_EXECUTABLES})
list(REMOVE_ITEM ALL_LIBRARY_SRCS ${ALL_TESTS})
list(REMOVE_ITEM ALL_LIBRARY_HDRS ${TEST_LIBRARY_HDRS})
list(REMOVE_ITEM ALL_LIBRARY_SRCS ${TEST_LIBRARY_SRCS})
file(GLOB_RECURSE ALL_GRPC_FILES "cartographer/cloud/*")
file(GLOB_RECURSE ALL_PROMETHEUS_FILES "cartographer/cloud/metrics/prometheus/*")
list(REMOVE_ITEM ALL_GRPC_FILES ${ALL_PROMETHEUS_FILES})
if (NOT ${BUILD_GRPC})
list(REMOVE_ITEM ALL_LIBRARY_HDRS ${ALL_GRPC_FILES})
list(REMOVE_ITEM ALL_LIBRARY_SRCS ${ALL_GRPC_FILES})
list(REMOVE_ITEM TEST_LIBRARY_HDRS ${ALL_GRPC_FILES})
list(REMOVE_ITEM TEST_LIBRARY_SRCS ${ALL_GRPC_FILES})
list(REMOVE_ITEM ALL_TESTS ${ALL_GRPC_FILES})
list(REMOVE_ITEM ALL_EXECUTABLES ${ALL_GRPC_FILES})
endif()
if (NOT ${BUILD_PROMETHEUS})
list(REMOVE_ITEM ALL_LIBRARY_HDRS ${ALL_PROMETHEUS_FILES})
list(REMOVE_ITEM ALL_LIBRARY_SRCS ${ALL_PROMETHEUS_FILES})
list(REMOVE_ITEM TEST_LIBRARY_HDRS ${ALL_PROMETHEUS_FILES})
list(REMOVE_ITEM TEST_LIBRARY_SRCS ${ALL_PROMETHEUS_FILES})
list(REMOVE_ITEM ALL_TESTS ${ALL_PROMETHEUS_FILES})
list(REMOVE_ITEM ALL_EXECUTABLES ${ALL_PROMETHEUS_FILES})
endif()
@ -182,22 +191,6 @@ if(${BUILD_GRPC})
endif()
endif()
foreach(ABS_FIL ${ALL_TESTS})
file(RELATIVE_PATH REL_FIL ${PROJECT_SOURCE_DIR} ${ABS_FIL})
get_filename_component(DIR ${REL_FIL} DIRECTORY)
get_filename_component(FIL_WE ${REL_FIL} NAME_WE)
# Replace slashes as required for CMP0037.
string(REPLACE "/" "." TEST_TARGET_NAME "${DIR}/${FIL_WE}")
google_test("${TEST_TARGET_NAME}" ${ABS_FIL})
if(${BUILD_GRPC})
target_link_libraries("${TEST_TARGET_NAME}" PUBLIC grpc++)
target_link_libraries("${TEST_TARGET_NAME}" PUBLIC async_grpc)
endif()
if(${BUILD_PROMETHEUS})
target_link_libraries("${TEST_TARGET_NAME}" PUBLIC prometheus-cpp)
endif()
endforeach()
target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC
"${EIGEN3_INCLUDE_DIR}")
target_link_libraries(${PROJECT_NAME} PUBLIC ${EIGEN3_LIBRARIES})
@ -236,6 +229,38 @@ if(${BUILD_PROMETHEUS})
target_compile_definitions(${PROJECT_NAME} PUBLIC USE_PROMETHEUS=1)
endif()
set(TARGET_COMPILE_FLAGS "${TARGET_COMPILE_FLAGS} ${GOOG_CXX_FLAGS}")
set_target_properties(${PROJECT_NAME} PROPERTIES
COMPILE_FLAGS ${TARGET_COMPILE_FLAGS})
set(TEST_LIB
cartographer_test_library
)
add_library(${TEST_LIB} ${TEST_LIBRARY_HDRS} ${TEST_LIBRARY_SRCS})
target_include_directories(${TEST_LIB} SYSTEM PRIVATE
"${GMOCK_INCLUDE_DIRS}")
target_link_libraries(${TEST_LIB} PUBLIC ${GMOCK_LIBRARY})
target_link_libraries(${TEST_LIB} PUBLIC ${PROJECT_NAME})
set_target_properties(${TEST_LIB} PROPERTIES
COMPILE_FLAGS ${TARGET_COMPILE_FLAGS})
foreach(ABS_FIL ${ALL_TESTS})
file(RELATIVE_PATH REL_FIL ${PROJECT_SOURCE_DIR} ${ABS_FIL})
get_filename_component(DIR ${REL_FIL} DIRECTORY)
get_filename_component(FIL_WE ${REL_FIL} NAME_WE)
# Replace slashes as required for CMP0037.
string(REPLACE "/" "." TEST_TARGET_NAME "${DIR}/${FIL_WE}")
google_test("${TEST_TARGET_NAME}" ${ABS_FIL})
if(${BUILD_GRPC})
target_link_libraries("${TEST_TARGET_NAME}" PUBLIC grpc++)
target_link_libraries("${TEST_TARGET_NAME}" PUBLIC async_grpc)
endif()
if(${BUILD_PROMETHEUS})
target_link_libraries("${TEST_TARGET_NAME}" PUBLIC prometheus-cpp)
endif()
target_link_libraries("${TEST_TARGET_NAME}" PUBLIC ${TEST_LIB})
endforeach()
# Add the binary directory first, so that port.h is included after it has
# been generated.
target_include_directories(${PROJECT_NAME} PUBLIC
@ -244,15 +269,6 @@ target_include_directories(${PROJECT_NAME} PUBLIC
$<INSTALL_INTERFACE:include>
)
# TODO(damonkohler): Create a testing library.
target_include_directories(${PROJECT_NAME} SYSTEM PRIVATE
"${GMOCK_INCLUDE_DIRS}")
target_link_libraries(${PROJECT_NAME} PUBLIC ${GMOCK_LIBRARY})
set(TARGET_COMPILE_FLAGS "${TARGET_COMPILE_FLAGS} ${GOOG_CXX_FLAGS}")
set_target_properties(${PROJECT_NAME} PROPERTIES
COMPILE_FLAGS ${TARGET_COMPILE_FLAGS})
install(
TARGETS ${PROJECT_NAME}
EXPORT CartographerExport