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
Wally B. Feed
parent
2abe1c72a6
commit
c370d221d0
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@ -30,18 +30,32 @@ google_initialize_cartographer_project()
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google_enable_testing()
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find_package(Abseil REQUIRED)
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find_package(Boost REQUIRED COMPONENTS iostreams)
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set(BOOST_COMPONENTS iostreams)
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if(WIN32)
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list(APPEND BOOST_COMPONENTS zlib)
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set(Boost_USE_STATIC_LIBS FALSE)
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endif()
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find_package(Boost REQUIRED COMPONENTS ${BOOST_COMPONENTS})
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find_package(Ceres REQUIRED COMPONENTS SuiteSparse)
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find_package(Eigen3 REQUIRED)
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find_package(LuaGoogle REQUIRED)
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find_package(Protobuf 3.0.0 REQUIRED)
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# On Windows, Protobuf is incorrectly found by the bundled CMake module. Prefer native CMake config, if possible.
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set(protobuf_MODULE_COMPATIBLE TRUE CACHE INTERNAL "")
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find_package(Protobuf 3.0.0 CONFIG)
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if (NOT Protobuf_FOUND)
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find_package(Protobuf 3.0.0 REQUIRED)
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endif()
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if (${BUILD_GRPC})
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find_package(async_grpc REQUIRED)
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endif()
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include(FindPkgConfig)
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PKG_SEARCH_MODULE(CAIRO REQUIRED cairo>=1.12.16)
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if (NOT WIN32)
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PKG_SEARCH_MODULE(CAIRO REQUIRED cairo>=1.12.16)
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else()
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find_library(CAIRO_LIBRARIES cairo)
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endif()
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# Only build the documentation if we can find Sphinx.
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find_package(Sphinx)
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@ -124,7 +138,7 @@ foreach(ABS_FIL ${ALL_PROTOS})
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add_custom_command(
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OUTPUT "${PROJECT_BINARY_DIR}/${DIR}/${FIL_WE}.pb.cc"
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"${PROJECT_BINARY_DIR}/${DIR}/${FIL_WE}.pb.h"
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COMMAND ${PROTOBUF_PROTOC_EXECUTABLE}
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COMMAND ${Protobuf_PROTOC_EXECUTABLE}
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ARGS --cpp_out ${PROJECT_BINARY_DIR} -I
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${PROJECT_SOURCE_DIR} ${ABS_FIL}
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DEPENDS ${ABS_FIL}
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@ -150,7 +164,7 @@ if(${BUILD_GRPC})
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add_custom_command(
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OUTPUT "${PROJECT_BINARY_DIR}/${DIR}/${FIL_WE}.pb.cc"
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"${PROJECT_BINARY_DIR}/${DIR}/${FIL_WE}.pb.h"
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COMMAND ${PROTOBUF_PROTOC_EXECUTABLE}
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COMMAND ${Protobuf_PROTOC_EXECUTABLE}
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ARGS --cpp_out ${PROJECT_BINARY_DIR}
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-I ${PROJECT_SOURCE_DIR}
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${ABS_FIL}
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@ -165,7 +179,7 @@ if(${BUILD_GRPC})
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endif()
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set(INSTALL_GENERATED_HDRS ${ALL_PROTO_HDRS} ${ALL_GRPC_SERVICE_HDRS})
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add_library(${PROJECT_NAME} ${ALL_LIBRARY_HDRS} ${ALL_LIBRARY_SRCS})
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add_library(${PROJECT_NAME} STATIC ${ALL_LIBRARY_HDRS} ${ALL_LIBRARY_SRCS})
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configure_file(
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${PROJECT_SOURCE_DIR}/cartographer/common/config.h.cmake
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@ -214,19 +228,38 @@ target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC
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"${Boost_INCLUDE_DIRS}")
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target_link_libraries(${PROJECT_NAME} PUBLIC ${Boost_LIBRARIES})
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# We expect find_package(Ceres) to have located these for us.
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target_link_libraries(${PROJECT_NAME} PUBLIC glog)
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target_link_libraries(${PROJECT_NAME} PUBLIC gflags)
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if (WIN32)
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find_package(glog REQUIRED)
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set(GLOG_LIBRARY glog::glog)
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else()
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set(GLOG_LIBRARY glog)
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endif()
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target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC
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target_link_libraries(${PROJECT_NAME} PUBLIC ${GLOG_LIBRARY})
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target_link_libraries(${PROJECT_NAME} PUBLIC gflags)
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if(WIN32)
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# Needed to fix conflict with MSVC's error macro.
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target_compile_definitions(${PROJECT_NAME} PUBLIC -DGLOG_NO_ABBREVIATED_SEVERITIES)
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endif()
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if(MSVC)
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# Needed for VS 2017 5.8
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target_compile_definitions(${PROJECT_NAME} PUBLIC -D_ENABLE_EXTENDED_ALIGNED_STORAGE -D_USE_MATH_DEFINES)
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endif()
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if("${CAIRO_INCLUDE_DIRS}")
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target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC
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"${CAIRO_INCLUDE_DIRS}")
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endif()
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target_link_libraries(${PROJECT_NAME} PUBLIC ${CAIRO_LIBRARIES})
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target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC
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${PROTOBUF_INCLUDE_DIR})
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# TODO(hrapp): This should not explicitly list pthread and use
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# PROTOBUF_LIBRARIES, but that failed on first try.
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target_link_libraries(${PROJECT_NAME} PUBLIC ${PROTOBUF_LIBRARY} pthread standalone_absl)
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target_link_libraries(${PROJECT_NAME} PUBLIC ${PROTOBUF_LIBRARY} standalone_absl)
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if (NOT WIN32)
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target_link_libraries(${PROJECT_NAME} PUBLIC pthread)
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endif()
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if(${BUILD_GRPC})
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target_link_libraries(${PROJECT_NAME} PUBLIC grpc++)
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target_link_libraries(${PROJECT_NAME} PUBLIC async_grpc)
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@ -246,6 +279,10 @@ set(TEST_LIB
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add_library(${TEST_LIB} ${TEST_LIBRARY_HDRS} ${TEST_LIBRARY_SRCS})
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target_include_directories(${TEST_LIB} SYSTEM PRIVATE
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"${GMOCK_INCLUDE_DIRS}")
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# Needed for dynamically linked GTest on Windows.
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if (WIN32)
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target_compile_definitions(${TEST_LIB} PUBLIC -DGTEST_LINKED_AS_SHARED_LIBRARY)
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endif()
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target_link_libraries(${TEST_LIB} PUBLIC ${GMOCK_LIBRARY})
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target_link_libraries(${TEST_LIB} PUBLIC ${PROJECT_NAME})
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set_target_properties(${TEST_LIB} PROPERTIES
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@ -0,0 +1,60 @@
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# Copyright 2018 The Cartographer Authors
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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jobs:
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- job: Build
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pool:
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vmImage: 'vs2017-win2016'
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timeoutInMinutes: 360
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steps:
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- script: |
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choco sources add -n=roswin -s https://roswin.azurewebsites.net/api/v2/ --priority 1
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rem Azure VM runs out of space on C:, so use D: for ros and rosdeps
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mkdir D:\opt && mklink /J C:\opt D:\opt
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choco upgrade %ROS_METAPACKAGE% -y
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robocopy "." ".\src\cartographer" /E /MOVE /XD "src" > NUL
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call "C:\opt\ros\melodic\x64\env.bat" rosdep install --from-paths src --ignore-src -r -y
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env:
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ROS_METAPACKAGE: 'ros-melodic-desktop'
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displayName: Install prerequisites
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- script: |
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call "C:\Program Files (x86)\Microsoft Visual Studio\2017\Enterprise\VC\Auxiliary\Build\vcvars64.bat"
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call "C:\opt\ros\melodic\x64\setup.bat"
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call src\cartographer\scripts\remove_mingw_cygwin_from_path.bat
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catkin_make_isolated --use-ninja --install
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displayName: Build
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- script: |
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call "C:\Program Files (x86)\Microsoft Visual Studio\2017\Enterprise\VC\Auxiliary\Build\vcvars64.bat"
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call "C:\opt\ros\melodic\x64\setup.bat"
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call src\cartographer\scripts\remove_mingw_cygwin_from_path.bat
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cd build_isolated\cartographer\install && ctest --no-compress-output -T Test
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displayName: Run tests
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- script: |
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call "C:\Program Files (x86)\Microsoft Visual Studio\2017\Enterprise\VC\Auxiliary\Build\vcvars64.bat"
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call "C:\opt\ros\melodic\x64\setup.bat"
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call src\cartographer\scripts\remove_mingw_cygwin_from_path.bat
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python src\cartographer\scripts\ctest_to_junit.py build_isolated\cartographer\install
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displayName: Convert tests to jUnit
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condition: always()
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- task: PublishTestResults@2
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displayName: Publish test results
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inputs:
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testRunner: 'jUnit'
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testResultsFiles: '**\jUnit.xml'
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searchFolder: '$(Build.SourcesDirectory)\build_isolated\cartographer\install\Testing'
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condition: always()
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@ -36,6 +36,9 @@ endif()
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set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${CARTOGRAPHER_CMAKE_DIR}/modules)
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find_package(Ceres ${QUIET_OR_REQUIRED_OPTION} HINTS ${CERES_DIR_HINTS})
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if (WIN32)
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find_package(glog REQUIRED)
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endif()
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find_package(Abseil ${QUIET_OR_REQUIRED_OPTION})
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if(CARTOGRAPHER_HAS_GRPC)
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find_package(async_grpc ${QUIET_OR_REQUIRED_OPTION})
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@ -16,7 +16,9 @@
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#include "cartographer/common/internal/testing/thread_pool_for_testing.h"
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#ifndef WIN32
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#include <unistd.h>
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#endif
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#include <algorithm>
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#include <chrono>
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#include <numeric>
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@ -16,7 +16,9 @@
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#include "cartographer/common/thread_pool.h"
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#ifndef WIN32
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#include <unistd.h>
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#endif
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#include <algorithm>
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#include <chrono>
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#include <numeric>
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@ -56,10 +56,14 @@ common::Duration FromMilliseconds(const int64 milliseconds) {
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}
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double GetThreadCpuTimeSeconds() {
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#ifndef WIN32
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struct timespec thread_cpu_time;
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CHECK(clock_gettime(CLOCK_THREAD_CPUTIME_ID, &thread_cpu_time) == 0)
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<< std::strerror(errno);
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return thread_cpu_time.tv_sec + 1e-9 * thread_cpu_time.tv_nsec;
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#else
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return 0.;
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#endif
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}
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} // namespace common
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@ -31,13 +31,7 @@ namespace {
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class ProtoStreamTest : public ::testing::Test {
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protected:
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void SetUp() override {
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const std::string tmpdir = P_tmpdir;
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test_directory_ = tmpdir + "/proto_stream_test_XXXXXX";
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ASSERT_NE(mkdtemp(&test_directory_[0]), nullptr) << strerror(errno);
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}
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void TearDown() override { remove(test_directory_.c_str()); }
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void SetUp() override { test_directory_ = "."; }
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std::string test_directory_;
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};
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@ -16,6 +16,8 @@
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#include "cartographer/mapping/internal/3d/scan_matching/rotation_delta_cost_functor_3d.h"
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#include <array>
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#include "gtest/gtest.h"
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namespace cartographer {
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@ -16,6 +16,8 @@
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#include "cartographer/pose_graph/constraint/cost_function/acceleration_cost_3d.h"
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#include <array>
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#include "cartographer/testing/test_helpers.h"
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namespace cartographer {
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@ -16,6 +16,8 @@
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#include "cartographer/pose_graph/constraint/cost_function/rotation_cost_3d.h"
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#include <array>
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#include "cartographer/testing/test_helpers.h"
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namespace cartographer {
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@ -72,6 +72,10 @@ macro(google_initialize_cartographer_project)
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set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH}
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${CMAKE_CURRENT_SOURCE_DIR}/cmake/modules)
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endif()
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if(WIN32)
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# TODO turn on equivalent warnings on Windows
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else()
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set(GOOG_CXX_FLAGS "-pthread -std=c++11 -fPIC ${GOOG_CXX_FLAGS}")
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google_add_flag(GOOG_CXX_FLAGS "-Wall")
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@ -108,7 +112,7 @@ macro(google_initialize_cartographer_project)
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"call CMake with -DFORCE_DEBUG_BUILD=True"
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)
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endif()
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# Support for Debian packaging CMAKE_BUILD_TYPE
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# Support for Debian packaging CMAKE_BUILD_TYPE
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elseif(CMAKE_BUILD_TYPE STREQUAL "None")
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message(WARNING "Building with CMAKE_BUILD_TYPE None, "
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"please make sure you have set CFLAGS and CXXFLAGS according to your needs.")
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@ -130,6 +134,7 @@ macro(google_initialize_cartographer_project)
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execute_process(COMMAND ${DETECT_CHANGES_CMD})
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endif()
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include(${FILES_LIST_PATH})
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endif()
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endmacro()
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macro(google_enable_testing)
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@ -37,9 +37,9 @@ if(NOT TARGET standalone_absl)
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"${ABSEIL_PROJECT_BUILD_DIR}/absl/algorithm/${prefix}absl_algorithm${suffix}"
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"${ABSEIL_PROJECT_BUILD_DIR}/absl/base/${prefix}absl_base${suffix}"
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"${ABSEIL_PROJECT_BUILD_DIR}/absl/base/${prefix}absl_dynamic_annotations${suffix}"
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"${ABSEIL_PROJECT_BUILD_DIR}/absl/base/${prefix}absl_malloc_internal${suffix}"
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"${ABSEIL_PROJECT_BUILD_DIR}/absl/base/${prefix}absl_spinlock_wait${suffix}"
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"${ABSEIL_PROJECT_BUILD_DIR}/absl/base/${prefix}absl_throw_delegate${suffix}"
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"${ABSEIL_PROJECT_BUILD_DIR}/absl/base/${prefix}absl_internal_malloc_internal${suffix}"
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"${ABSEIL_PROJECT_BUILD_DIR}/absl/base/${prefix}absl_internal_spinlock_wait${suffix}"
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"${ABSEIL_PROJECT_BUILD_DIR}/absl/base/${prefix}absl_internal_throw_delegate${suffix}"
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"${ABSEIL_PROJECT_BUILD_DIR}/absl/container/${prefix}absl_container${suffix}"
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"${ABSEIL_PROJECT_BUILD_DIR}/absl/container/${prefix}test_instance_tracker_lib${suffix}"
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"${ABSEIL_PROJECT_BUILD_DIR}/absl/debugging/${prefix}absl_debugging${suffix}"
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@ -64,7 +64,7 @@ if(NOT TARGET standalone_absl)
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ExternalProject_Add(${ABSEIL_PROJECT_NAME}
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PREFIX ${ABSEIL_PROJECT_NAME}
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GIT_REPOSITORY https://github.com/abseil/abseil-cpp.git
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GIT_TAG 5441bbe1db5d0f2ca24b5b60166367b0966790af
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GIT_TAG 7b46e1d31a6b08b1c6da2a13e7b151a20446fa07
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INSTALL_COMMAND ""
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BUILD_COMMAND ${CMAKE_COMMAND} --build "${ABSEIL_PROJECT_BUILD_DIR}"
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CMAKE_CACHE_ARGS "-DCMAKE_POSITION_INDEPENDENT_CODE:BOOL=ON;-DBUILD_TESTING:BOOL=OFF;-DCMAKE_BUILD_TYPE:STRING=Release"
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@ -81,6 +81,15 @@ if(NOT TARGET standalone_absl)
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INTERFACE_LINK_LIBRARIES
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"${ABSEIL_DEPENDENT_LIBRARIES}"
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)
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if(MSVC)
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# /wd4005 macro-redefinition
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# /wd4068 unknown pragma
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# /wd4244 conversion from 'type1' to 'type2'
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# /wd4267 conversion from 'size_t' to 'type2'
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# /wd4800 force value to bool 'true' or 'false' (performance warning)
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target_compile_options(standalone_absl INTERFACE /wd4005 /wd4068 /wd4244 /wd4267 /wd4800)
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target_compile_definitions(standalone_absl INTERFACE -DNOMINMAX -DWIN32_LEAN_AND_MEAN=1 -D_CRT_SECURE_NO_WARNINGS)
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endif()
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add_dependencies(standalone_absl ${ABSEIL_PROJECT_NAME})
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unset(prefix)
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unset(suffix)
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@ -37,7 +37,6 @@
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<buildtool_depend>catkin</buildtool_depend>
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<build_depend>git</build_depend>
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<build_depend>g++-static</build_depend>
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<build_depend>google-mock</build_depend>
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<build_depend>python-sphinx</build_depend>
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@ -0,0 +1,33 @@
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# Copyright 2018 The Cartographer Authors
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
|
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# limitations under the License.
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from lxml import etree
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import StringIO
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import sys
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TAGfile = open(sys.argv[1]+"/Testing/TAG", 'r')
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dirname = TAGfile.readline().strip()
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xmlfile = open(sys.argv[1]+"/Testing/"+dirname+"/Test.xml", 'r')
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xslfile = open(sys.path[0] + "/ctest_to_junit.xsl", 'r')
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xmlcontent = xmlfile.read()
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xslcontent = xslfile.read()
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xmldoc = etree.parse(StringIO.StringIO(xmlcontent))
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xslt_root = etree.XML(xslcontent)
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transform = etree.XSLT(xslt_root)
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result_tree = transform(xmldoc)
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result_tree.write(sys.argv[1]+"/Testing/"+dirname+"/jUnit.xml")
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@ -0,0 +1,49 @@
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<?xml version="1.0" encoding="UTF-8"?>
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<!-- Copyright 2018 The Cartographer Authors
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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>
|
||||
|
|
@ -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;=%
|
||||
Loading…
Reference in New Issue