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Windows build fixes & Azure CI (#1463) 

This PR makes libcartographer build on Windows (including tests). Abseil was bumped to avoid a MSVC compiler bug.

I have observed two tests failing:
`MapBuilderTestByGridType/MapBuilderTestByGridType.GlobalSlam2D/1` and `MapBuilderTestByGridType/MapBuilderTestByGridType.LocalizationOnFrozenTrajectory2D/1`.
master
Juraj Oršulić 2018-12-16 17:04:23 +01:00 committed by Wally B. Feed
parent 2abe1c72a6
commit c370d221d0
16 changed files with 300 additions and 77 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

61
CMakeLists.txt
View File

@ -30,18 +30,32 @@ google_initialize_cartographer_project()
google_enable_testing()
find_package(Abseil REQUIRED)
find_package(Boost REQUIRED COMPONENTS iostreams)
set(BOOST_COMPONENTS iostreams)
if(WIN32)
list(APPEND BOOST_COMPONENTS zlib)
set(Boost_USE_STATIC_LIBS FALSE)
endif()
find_package(Boost REQUIRED COMPONENTS ${BOOST_COMPONENTS})
find_package(Ceres REQUIRED COMPONENTS SuiteSparse)
find_package(Eigen3 REQUIRED)
find_package(LuaGoogle REQUIRED)
find_package(Protobuf 3.0.0 REQUIRED)
# On Windows, Protobuf is incorrectly found by the bundled CMake module. Prefer native CMake config, if possible.
set(protobuf_MODULE_COMPATIBLE TRUE CACHE INTERNAL "")
find_package(Protobuf 3.0.0 CONFIG)
if (NOT Protobuf_FOUND)
find_package(Protobuf 3.0.0 REQUIRED)
endif()
if (${BUILD_GRPC})
find_package(async_grpc REQUIRED)
endif()
include(FindPkgConfig)
PKG_SEARCH_MODULE(CAIRO REQUIRED cairo>=1.12.16)
if (NOT WIN32)
PKG_SEARCH_MODULE(CAIRO REQUIRED cairo>=1.12.16)
else()
find_library(CAIRO_LIBRARIES cairo)
endif()
# Only build the documentation if we can find Sphinx.
find_package(Sphinx)
@ -124,7 +138,7 @@ foreach(ABS_FIL ${ALL_PROTOS})
add_custom_command(
OUTPUT "${PROJECT_BINARY_DIR}/${DIR}/${FIL_WE}.pb.cc"
"${PROJECT_BINARY_DIR}/${DIR}/${FIL_WE}.pb.h"
COMMAND ${PROTOBUF_PROTOC_EXECUTABLE}
COMMAND ${Protobuf_PROTOC_EXECUTABLE}
ARGS --cpp_out ${PROJECT_BINARY_DIR} -I
${PROJECT_SOURCE_DIR} ${ABS_FIL}
DEPENDS ${ABS_FIL}
@ -150,7 +164,7 @@ if(${BUILD_GRPC})
add_custom_command(
OUTPUT "${PROJECT_BINARY_DIR}/${DIR}/${FIL_WE}.pb.cc"
"${PROJECT_BINARY_DIR}/${DIR}/${FIL_WE}.pb.h"
COMMAND ${PROTOBUF_PROTOC_EXECUTABLE}
COMMAND ${Protobuf_PROTOC_EXECUTABLE}
ARGS --cpp_out ${PROJECT_BINARY_DIR}
-I ${PROJECT_SOURCE_DIR}
${ABS_FIL}
@ -165,7 +179,7 @@ if(${BUILD_GRPC})
endif()
set(INSTALL_GENERATED_HDRS ${ALL_PROTO_HDRS} ${ALL_GRPC_SERVICE_HDRS})
add_library(${PROJECT_NAME} ${ALL_LIBRARY_HDRS} ${ALL_LIBRARY_SRCS})
add_library(${PROJECT_NAME} STATIC ${ALL_LIBRARY_HDRS} ${ALL_LIBRARY_SRCS})
configure_file(
${PROJECT_SOURCE_DIR}/cartographer/common/config.h.cmake
@ -214,19 +228,38 @@ target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC
"${Boost_INCLUDE_DIRS}")
target_link_libraries(${PROJECT_NAME} PUBLIC ${Boost_LIBRARIES})
# We expect find_package(Ceres) to have located these for us.
target_link_libraries(${PROJECT_NAME} PUBLIC glog)
target_link_libraries(${PROJECT_NAME} PUBLIC gflags)
if (WIN32)
find_package(glog REQUIRED)
set(GLOG_LIBRARY glog::glog)
else()
set(GLOG_LIBRARY glog)
endif()
target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC
"${CAIRO_INCLUDE_DIRS}")
target_link_libraries(${PROJECT_NAME} PUBLIC ${GLOG_LIBRARY})
target_link_libraries(${PROJECT_NAME} PUBLIC gflags)
if(WIN32)
# Needed to fix conflict with MSVC's error macro.
target_compile_definitions(${PROJECT_NAME} PUBLIC -DGLOG_NO_ABBREVIATED_SEVERITIES)
endif()
if(MSVC)
# Needed for VS 2017 5.8
target_compile_definitions(${PROJECT_NAME} PUBLIC -D_ENABLE_EXTENDED_ALIGNED_STORAGE -D_USE_MATH_DEFINES)
endif()
if("${CAIRO_INCLUDE_DIRS}")
target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC
"${CAIRO_INCLUDE_DIRS}")
endif()
target_link_libraries(${PROJECT_NAME} PUBLIC ${CAIRO_LIBRARIES})
target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC
${PROTOBUF_INCLUDE_DIR})
# TODO(hrapp): This should not explicitly list pthread and use
# PROTOBUF_LIBRARIES, but that failed on first try.
target_link_libraries(${PROJECT_NAME} PUBLIC ${PROTOBUF_LIBRARY} pthread standalone_absl)
target_link_libraries(${PROJECT_NAME} PUBLIC ${PROTOBUF_LIBRARY} standalone_absl)
if (NOT WIN32)
target_link_libraries(${PROJECT_NAME} PUBLIC pthread)
endif()
if(${BUILD_GRPC})
target_link_libraries(${PROJECT_NAME} PUBLIC grpc++)
target_link_libraries(${PROJECT_NAME} PUBLIC async_grpc)
@ -246,6 +279,10 @@ set(TEST_LIB
add_library(${TEST_LIB} ${TEST_LIBRARY_HDRS} ${TEST_LIBRARY_SRCS})
target_include_directories(${TEST_LIB} SYSTEM PRIVATE
"${GMOCK_INCLUDE_DIRS}")
# Needed for dynamically linked GTest on Windows.
if (WIN32)
target_compile_definitions(${TEST_LIB} PUBLIC -DGTEST_LINKED_AS_SHARED_LIBRARY)
endif()
target_link_libraries(${TEST_LIB} PUBLIC ${GMOCK_LIBRARY})
target_link_libraries(${TEST_LIB} PUBLIC ${PROJECT_NAME})
set_target_properties(${TEST_LIB} PROPERTIES

60
azure-pipelines.yml Normal file
View File

@ -0,0 +1,60 @@
# Copyright 2018 The Cartographer Authors
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
jobs:
- job: Build
pool:
vmImage: 'vs2017-win2016'
timeoutInMinutes: 360
steps:
- script: |
choco sources add -n=roswin -s https://roswin.azurewebsites.net/api/v2/ --priority 1
rem Azure VM runs out of space on C:, so use D: for ros and rosdeps
mkdir D:\opt && mklink /J C:\opt D:\opt
choco upgrade %ROS_METAPACKAGE% -y
robocopy "." ".\src\cartographer" /E /MOVE /XD "src" > NUL
call "C:\opt\ros\melodic\x64\env.bat" rosdep install --from-paths src --ignore-src -r -y
env:
ROS_METAPACKAGE: 'ros-melodic-desktop'
displayName: Install prerequisites
- script: |
call "C:\Program Files (x86)\Microsoft Visual Studio\2017\Enterprise\VC\Auxiliary\Build\vcvars64.bat"
call "C:\opt\ros\melodic\x64\setup.bat"
call src\cartographer\scripts\remove_mingw_cygwin_from_path.bat
catkin_make_isolated --use-ninja --install
displayName: Build
- script: |
call "C:\Program Files (x86)\Microsoft Visual Studio\2017\Enterprise\VC\Auxiliary\Build\vcvars64.bat"
call "C:\opt\ros\melodic\x64\setup.bat"
call src\cartographer\scripts\remove_mingw_cygwin_from_path.bat
cd build_isolated\cartographer\install && ctest --no-compress-output -T Test
displayName: Run tests
- script: |
call "C:\Program Files (x86)\Microsoft Visual Studio\2017\Enterprise\VC\Auxiliary\Build\vcvars64.bat"
call "C:\opt\ros\melodic\x64\setup.bat"
call src\cartographer\scripts\remove_mingw_cygwin_from_path.bat
python src\cartographer\scripts\ctest_to_junit.py build_isolated\cartographer\install
displayName: Convert tests to jUnit
condition: always()
- task: PublishTestResults@2
displayName: Publish test results
inputs:
testRunner: 'jUnit'
testResultsFiles: '**\jUnit.xml'
searchFolder: '$(Build.SourcesDirectory)\build_isolated\cartographer\install\Testing'
condition: always()

3
cartographer-config.cmake.in
View File

@ -36,6 +36,9 @@ endif()
set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${CARTOGRAPHER_CMAKE_DIR}/modules)
find_package(Ceres ${QUIET_OR_REQUIRED_OPTION} HINTS ${CERES_DIR_HINTS})
if (WIN32)
find_package(glog REQUIRED)
endif()
find_package(Abseil ${QUIET_OR_REQUIRED_OPTION})
if(CARTOGRAPHER_HAS_GRPC)
find_package(async_grpc ${QUIET_OR_REQUIRED_OPTION})

2
cartographer/common/internal/testing/thread_pool_for_testing.cc
View File

@ -16,7 +16,9 @@
#include "cartographer/common/internal/testing/thread_pool_for_testing.h"
#ifndef WIN32
#include <unistd.h>
#endif
#include <algorithm>
#include <chrono>
#include <numeric>

2
cartographer/common/thread_pool.cc
View File

@ -16,7 +16,9 @@
#include "cartographer/common/thread_pool.h"
#ifndef WIN32
#include <unistd.h>
#endif
#include <algorithm>
#include <chrono>
#include <numeric>

4
cartographer/common/time.cc
View File

@ -56,10 +56,14 @@ common::Duration FromMilliseconds(const int64 milliseconds) {
}
double GetThreadCpuTimeSeconds() {
#ifndef WIN32
struct timespec thread_cpu_time;
CHECK(clock_gettime(CLOCK_THREAD_CPUTIME_ID, &thread_cpu_time) == 0)
<< std::strerror(errno);
return thread_cpu_time.tv_sec + 1e-9 * thread_cpu_time.tv_nsec;
#else
return 0.;
#endif
}
} // namespace common

8
cartographer/io/proto_stream_test.cc
View File

@ -31,13 +31,7 @@ namespace {
class ProtoStreamTest : public ::testing::Test {
protected:
void SetUp() override {
const std::string tmpdir = P_tmpdir;
test_directory_ = tmpdir + "/proto_stream_test_XXXXXX";
ASSERT_NE(mkdtemp(&test_directory_[0]), nullptr) << strerror(errno);
}
void TearDown() override { remove(test_directory_.c_str()); }
void SetUp() override { test_directory_ = "."; }
std::string test_directory_;
};

2
cartographer/mapping/internal/3d/scan_matching/rotation_delta_cost_functor_3d_test.cc
View File

@ -16,6 +16,8 @@
#include "cartographer/mapping/internal/3d/scan_matching/rotation_delta_cost_functor_3d.h"
#include <array>
#include "gtest/gtest.h"
namespace cartographer {

2
cartographer/pose_graph/constraint/cost_function/acceleration_cost_3d_test.cc
View File

@ -16,6 +16,8 @@
#include "cartographer/pose_graph/constraint/cost_function/acceleration_cost_3d.h"
#include <array>
#include "cartographer/testing/test_helpers.h"
namespace cartographer {

2
cartographer/pose_graph/constraint/cost_function/rotation_cost_3d_test.cc
View File

@ -16,6 +16,8 @@
#include "cartographer/pose_graph/constraint/cost_function/rotation_cost_3d.h"
#include <array>
#include "cartographer/testing/test_helpers.h"
namespace cartographer {

111
cmake/functions.cmake
View File

@ -72,64 +72,69 @@ macro(google_initialize_cartographer_project)
set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH}
${CMAKE_CURRENT_SOURCE_DIR}/cmake/modules)
endif()
set(GOOG_CXX_FLAGS "-pthread -std=c++11 -fPIC ${GOOG_CXX_FLAGS}")
google_add_flag(GOOG_CXX_FLAGS "-Wall")
google_add_flag(GOOG_CXX_FLAGS "-Wpedantic")
# Turn some warnings into errors.
google_add_flag(GOOG_CXX_FLAGS "-Werror=format-security")
google_add_flag(GOOG_CXX_FLAGS "-Werror=missing-braces")
google_add_flag(GOOG_CXX_FLAGS "-Werror=reorder")
google_add_flag(GOOG_CXX_FLAGS "-Werror=return-type")
google_add_flag(GOOG_CXX_FLAGS "-Werror=switch")
google_add_flag(GOOG_CXX_FLAGS "-Werror=uninitialized")
if (CMAKE_CXX_COMPILER_ID MATCHES "Clang" OR CMAKE_CXX_COMPILER_ID MATCHES "AppleClang")
google_add_flag(GOOG_CXX_FLAGS "-Wthread-safety")
endif()
if(NOT CMAKE_BUILD_TYPE OR CMAKE_BUILD_TYPE STREQUAL "")
set(CMAKE_BUILD_TYPE Release)
endif()
if(CMAKE_BUILD_TYPE STREQUAL "Release")
google_add_flag(GOOG_CXX_FLAGS "-O3 -DNDEBUG")
elseif(CMAKE_BUILD_TYPE STREQUAL "RelWithDebInfo")
google_add_flag(GOOG_CXX_FLAGS "-O3 -g -DNDEBUG")
elseif(CMAKE_BUILD_TYPE STREQUAL "Debug")
if(FORCE_DEBUG_BUILD)
message(WARNING "Building in Debug mode, expect very slow performance.")
google_add_flag(GOOG_CXX_FLAGS "-g")
else()
message(FATAL_ERROR
"Compiling in Debug mode is not supported and can cause severely degraded performance. "
"You should change the build type to Release. If you want to build in Debug mode anyway, "
"call CMake with -DFORCE_DEBUG_BUILD=True"
)
endif()
# Support for Debian packaging CMAKE_BUILD_TYPE
elseif(CMAKE_BUILD_TYPE STREQUAL "None")
message(WARNING "Building with CMAKE_BUILD_TYPE None, "
"please make sure you have set CFLAGS and CXXFLAGS according to your needs.")
if(WIN32)
# TODO turn on equivalent warnings on Windows
else()
message(FATAL_ERROR "Unknown CMAKE_BUILD_TYPE: ${CMAKE_BUILD_TYPE}")
endif()
set(GOOG_CXX_FLAGS "-pthread -std=c++11 -fPIC ${GOOG_CXX_FLAGS}")
message(STATUS "Build type: ${CMAKE_BUILD_TYPE}")
google_add_flag(GOOG_CXX_FLAGS "-Wall")
google_add_flag(GOOG_CXX_FLAGS "-Wpedantic")
# Add a hook that reruns CMake when source files are added or removed.
set(LIST_FILES_CMD "find ${PROJECT_SOURCE_DIR}/ -not -iwholename '*.git*' | sort | sed 's/^/#/'")
set(FILES_LIST_PATH "${PROJECT_BINARY_DIR}/AllFiles.cmake")
set(DETECT_CHANGES_CMD "bash" "-c" "${LIST_FILES_CMD} | diff -N -q ${FILES_LIST_PATH} - || ${LIST_FILES_CMD} > ${FILES_LIST_PATH}")
add_custom_target(${PROJECT_NAME}_detect_changes ALL
COMMAND ${DETECT_CHANGES_CMD}
VERBATIM
)
if(NOT EXISTS ${FILES_LIST_PATH})
execute_process(COMMAND ${DETECT_CHANGES_CMD})
# Turn some warnings into errors.
google_add_flag(GOOG_CXX_FLAGS "-Werror=format-security")
google_add_flag(GOOG_CXX_FLAGS "-Werror=missing-braces")
google_add_flag(GOOG_CXX_FLAGS "-Werror=reorder")
google_add_flag(GOOG_CXX_FLAGS "-Werror=return-type")
google_add_flag(GOOG_CXX_FLAGS "-Werror=switch")
google_add_flag(GOOG_CXX_FLAGS "-Werror=uninitialized")
if (CMAKE_CXX_COMPILER_ID MATCHES "Clang" OR CMAKE_CXX_COMPILER_ID MATCHES "AppleClang")
google_add_flag(GOOG_CXX_FLAGS "-Wthread-safety")
endif()
if(NOT CMAKE_BUILD_TYPE OR CMAKE_BUILD_TYPE STREQUAL "")
set(CMAKE_BUILD_TYPE Release)
endif()
if(CMAKE_BUILD_TYPE STREQUAL "Release")
google_add_flag(GOOG_CXX_FLAGS "-O3 -DNDEBUG")
elseif(CMAKE_BUILD_TYPE STREQUAL "RelWithDebInfo")
google_add_flag(GOOG_CXX_FLAGS "-O3 -g -DNDEBUG")
elseif(CMAKE_BUILD_TYPE STREQUAL "Debug")
if(FORCE_DEBUG_BUILD)
message(WARNING "Building in Debug mode, expect very slow performance.")
google_add_flag(GOOG_CXX_FLAGS "-g")
else()
message(FATAL_ERROR
"Compiling in Debug mode is not supported and can cause severely degraded performance. "
"You should change the build type to Release. If you want to build in Debug mode anyway, "
"call CMake with -DFORCE_DEBUG_BUILD=True"
)
endif()
# Support for Debian packaging CMAKE_BUILD_TYPE
elseif(CMAKE_BUILD_TYPE STREQUAL "None")
message(WARNING "Building with CMAKE_BUILD_TYPE None, "
"please make sure you have set CFLAGS and CXXFLAGS according to your needs.")
else()
message(FATAL_ERROR "Unknown CMAKE_BUILD_TYPE: ${CMAKE_BUILD_TYPE}")
endif()
message(STATUS "Build type: ${CMAKE_BUILD_TYPE}")
# Add a hook that reruns CMake when source files are added or removed.
set(LIST_FILES_CMD "find ${PROJECT_SOURCE_DIR}/ -not -iwholename '*.git*' | sort | sed 's/^/#/'")
set(FILES_LIST_PATH "${PROJECT_BINARY_DIR}/AllFiles.cmake")
set(DETECT_CHANGES_CMD "bash" "-c" "${LIST_FILES_CMD} | diff -N -q ${FILES_LIST_PATH} - || ${LIST_FILES_CMD} > ${FILES_LIST_PATH}")
add_custom_target(${PROJECT_NAME}_detect_changes ALL
COMMAND ${DETECT_CHANGES_CMD}
VERBATIM
)
if(NOT EXISTS ${FILES_LIST_PATH})
execute_process(COMMAND ${DETECT_CHANGES_CMD})
endif()
include(${FILES_LIST_PATH})
endif()
include(${FILES_LIST_PATH})
endmacro()
macro(google_enable_testing)

17
cmake/modules/FindAbseil.cmake
View File

@ -37,9 +37,9 @@ if(NOT TARGET standalone_absl)
"${ABSEIL_PROJECT_BUILD_DIR}/absl/algorithm/${prefix}absl_algorithm${suffix}"
"${ABSEIL_PROJECT_BUILD_DIR}/absl/base/${prefix}absl_base${suffix}"
"${ABSEIL_PROJECT_BUILD_DIR}/absl/base/${prefix}absl_dynamic_annotations${suffix}"
"${ABSEIL_PROJECT_BUILD_DIR}/absl/base/${prefix}absl_malloc_internal${suffix}"
"${ABSEIL_PROJECT_BUILD_DIR}/absl/base/${prefix}absl_spinlock_wait${suffix}"
"${ABSEIL_PROJECT_BUILD_DIR}/absl/base/${prefix}absl_throw_delegate${suffix}"
"${ABSEIL_PROJECT_BUILD_DIR}/absl/base/${prefix}absl_internal_malloc_internal${suffix}"
"${ABSEIL_PROJECT_BUILD_DIR}/absl/base/${prefix}absl_internal_spinlock_wait${suffix}"
"${ABSEIL_PROJECT_BUILD_DIR}/absl/base/${prefix}absl_internal_throw_delegate${suffix}"
"${ABSEIL_PROJECT_BUILD_DIR}/absl/container/${prefix}absl_container${suffix}"
"${ABSEIL_PROJECT_BUILD_DIR}/absl/container/${prefix}test_instance_tracker_lib${suffix}"
"${ABSEIL_PROJECT_BUILD_DIR}/absl/debugging/${prefix}absl_debugging${suffix}"
@ -64,7 +64,7 @@ if(NOT TARGET standalone_absl)
ExternalProject_Add(${ABSEIL_PROJECT_NAME}
PREFIX ${ABSEIL_PROJECT_NAME}
GIT_REPOSITORY https://github.com/abseil/abseil-cpp.git
GIT_TAG 5441bbe1db5d0f2ca24b5b60166367b0966790af
GIT_TAG 7b46e1d31a6b08b1c6da2a13e7b151a20446fa07
INSTALL_COMMAND ""
BUILD_COMMAND ${CMAKE_COMMAND} --build "${ABSEIL_PROJECT_BUILD_DIR}"
CMAKE_CACHE_ARGS "-DCMAKE_POSITION_INDEPENDENT_CODE:BOOL=ON;-DBUILD_TESTING:BOOL=OFF;-DCMAKE_BUILD_TYPE:STRING=Release"
@ -81,6 +81,15 @@ if(NOT TARGET standalone_absl)
INTERFACE_LINK_LIBRARIES
"${ABSEIL_DEPENDENT_LIBRARIES}"
)
if(MSVC)
# /wd4005 macro-redefinition
# /wd4068 unknown pragma
# /wd4244 conversion from 'type1' to 'type2'
# /wd4267 conversion from 'size_t' to 'type2'
# /wd4800 force value to bool 'true' or 'false' (performance warning)
target_compile_options(standalone_absl INTERFACE /wd4005 /wd4068 /wd4244 /wd4267 /wd4800)
target_compile_definitions(standalone_absl INTERFACE -DNOMINMAX -DWIN32_LEAN_AND_MEAN=1 -D_CRT_SECURE_NO_WARNINGS)
endif()
add_dependencies(standalone_absl ${ABSEIL_PROJECT_NAME})
unset(prefix)
unset(suffix)

1
package.xml
View File

@ -37,7 +37,6 @@
<buildtool_depend>catkin</buildtool_depend>
<build_depend>git</build_depend>
<build_depend>g++-static</build_depend>
<build_depend>google-mock</build_depend>
<build_depend>python-sphinx</build_depend>

33
scripts/ctest_to_junit.py Normal file
View File

@ -0,0 +1,33 @@
# Copyright 2018 The Cartographer Authors
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
from lxml import etree
import StringIO
import sys
TAGfile = open(sys.argv[1]+"/Testing/TAG", 'r')
dirname = TAGfile.readline().strip()
xmlfile = open(sys.argv[1]+"/Testing/"+dirname+"/Test.xml", 'r')
xslfile = open(sys.path[0] + "/ctest_to_junit.xsl", 'r')
xmlcontent = xmlfile.read()
xslcontent = xslfile.read()
xmldoc = etree.parse(StringIO.StringIO(xmlcontent))
xslt_root = etree.XML(xslcontent)
transform = etree.XSLT(xslt_root)
result_tree = transform(xmldoc)
result_tree.write(sys.argv[1]+"/Testing/"+dirname+"/jUnit.xml")

49
scripts/ctest_to_junit.xsl Normal file
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@ -0,0 +1,49 @@
<?xml version="1.0" encoding="UTF-8"?>
<!-- Copyright 2018 The Cartographer Authors
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at
http://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.
-->
<xsl:stylesheet version="1.0" xmlns:xsl="http://www.w3.org/1999/XSL/Transform">
<xsl:output method="xml" indent="yes" />
<xsl:template match="/">
<testsuites>
<xsl:variable name="buildName" select="//Site/@BuildName"/>
<xsl:variable name="numberOfTests" select="count(//Site/Testing/Test)"/>
<xsl:variable name="numberOfFailures" select="count(//Site/Testing/Test[@Status!='passed'])" />
<testsuite name="CTest"
tests="{$numberOfTests}" time="0"
failures="{$numberOfFailures}" errors="0"
skipped="0">
<xsl:for-each select="//Site/Testing/Test">
<xsl:variable name="testName" select="translate(Name, '-', '_')"/>
<xsl:variable name="duration" select="Results/NamedMeasurement[@name='Execution Time']/Value"/>
<xsl:variable name="status" select="@Status"/>
<xsl:variable name="output" select="Results/Measurement/Value"/>
<xsl:variable name="className" select="translate(Path, '/.', '.')"/>
<testcase classname="projectroot{$className}"
name="{$testName}"
time="{$duration}">
<xsl:if test="@Status!='passed'">
<failure>
<xsl:value-of select="$output" />
</failure>
</xsl:if>
<system-out>
<xsl:value-of select="$output" />
</system-out>
</testcase>
</xsl:for-each>
</testsuite>
</testsuites>
</xsl:template>
</xsl:stylesheet>

20
scripts/remove_mingw_cygwin_from_path.bat Normal file
View File

@ -0,0 +1,20 @@
rem Copyright 2018 The Cartographer Authors
rem
rem Licensed under the Apache License, Version 2.0 (the "License");
rem you may not use this file except in compliance with the License.
rem You may obtain a copy of the License at
rem
rem http://www.apache.org/licenses/LICENSE-2.0
rem
rem Unless required by applicable law or agreed to in writing, software
rem distributed under the License is distributed on an "AS IS" BASIS,
rem WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
rem See the License for the specific language governing permissions and
rem limitations under the License.
rem Remove git bash's MinGW/Cygwin stuff from PATH, as it interferes with CMake's
rem detection of Boost when using ninja.
set PATH=%PATH:C:\tools\mingw64\bin;=%
set PATH=%PATH:C:\Program Files\Git\bin;=%
set PATH=%PATH:C:\Program Files\Git\usr\bin;=%
set PATH=%PATH:C:\Program Files\Git\mingw64\bin;=%