updated the test format

CMakeLists.txt

@@ -375,7 +375,9 @@ target_link_libraries(cyclic_example
 ## |                           Testing                          |
 ## --------------------------------------------------------------
 
-if(CATKIN_ENABLE_TESTING)
+if(CATKIN_ENABLE_TESTING AND MRS_ENABLE_TESTING)
+
+  message(WARNING "Testing enabled.")
 
   add_subdirectory(test)
 

test/CMakeLists.txt

@@ -1,256 +1,31 @@
 find_package(rostest REQUIRED)
 
-# TimeoutManager
+add_subdirectory(./attitude_converter)
 
-add_rostest_gtest(TimeoutManagerTest
-  timeout_manager/timeout_manager.test
-  timeout_manager/test.cpp
-  )
+add_subdirectory(./geometry)
 
-target_link_libraries(TimeoutManagerTest
-  MrsLib_TimeoutManager
-  MrsLib_Utils
-  ${catkin_LIBRARIES}
-  )
+add_subdirectory(./math)
 
-add_dependencies(TimeoutManagerTest
-  ${${PROJECT_NAME}_EXPORTED_TARGETS}
-  ${catkin_EXPORTED_TARGETS}
-  )
+add_subdirectory(./median_filter)
 
-# MathTest
+add_subdirectory(./param_loader)
 
-add_rostest_gtest(MathTest
-  math/math.test
-  math/test.cpp
-  )
+add_subdirectory(./publisher_handler)
 
-target_link_libraries(MathTest
-  MrsLib_Math
-  ${catkin_LIBRARIES}
-  )
+add_subdirectory(./repredictor)
 
-add_dependencies(MathTest
-  ${${PROJECT_NAME}_EXPORTED_TARGETS}
-  ${catkin_EXPORTED_TARGETS}
-  )
+add_subdirectory(./service_client_handler)
 
-# GeometryTest
+add_subdirectory(./subscribe_handler)
 
-add_rostest_gtest(GeometryTest
-  geometry/geometry.test
-  geometry/test.cpp
-  )
+add_subdirectory(./timeout_manager)
 
-target_link_libraries(GeometryTest
-  MrsLib_Geometry
-  ${catkin_LIBRARIES}
-  )
+add_subdirectory(./timer)
 
-add_dependencies(GeometryTest
-  ${${PROJECT_NAME}_EXPORTED_TARGETS}
-  ${catkin_EXPORTED_TARGETS}
-  )
+add_subdirectory(./transformer)
 
-# AttitudeConverterTest
+add_subdirectory(./ukf)
 
-add_rostest_gtest(AttitudeConverterTest
-  attitude_converter/attitude_converter.test
-  attitude_converter/test.cpp
-  )
+add_subdirectory(./utils)
 
-target_link_libraries(AttitudeConverterTest
-  MrsLib_AttitudeConverter
-  ${catkin_LIBRARIES}
-  )
-
-add_dependencies(AttitudeConverterTest
-  ${${PROJECT_NAME}_EXPORTED_TARGETS}
-  ${catkin_EXPORTED_TARGETS}
-  )
-
-# UtilsTest
-
-add_rostest_gtest(UtilsTest
-  utils/utils.test
-  utils/test.cpp
-  )
-
-target_link_libraries(UtilsTest
-  MrsLib_Utils
-  ${catkin_LIBRARIES}
-  )
-
-add_dependencies(UtilsTest
-  ${${PROJECT_NAME}_EXPORTED_TARGETS}
-  ${catkin_EXPORTED_TARGETS}
-  )
-
-# UkfTest
-
-add_rostest_gtest(UkfTest
-  ukf/ukf.test
-  ukf/test.cpp
-  )
-
-target_link_libraries(UkfTest
-  ${catkin_LIBRARIES}
-  )
-
-add_dependencies(UkfTest
-  ${${PROJECT_NAME}_EXPORTED_TARGETS}
-  ${catkin_EXPORTED_TARGETS}
-  )
-
-# TransformerTest
-
-add_rostest_gtest(TransformerTest
-  transformer/transformer.test
-  transformer/test.cpp
-  )
-
-target_link_libraries(TransformerTest
-  MrsLib_Transformer
-  MrsLib_Geometry
-  ${catkin_LIBRARIES}
-  )
-
-add_dependencies(TransformerTest
-  ${${PROJECT_NAME}_EXPORTED_TARGETS}
-  ${catkin_EXPORTED_TARGETS}
-  )
-
-# ParamLoaderTest
-
-add_rostest_gtest(ParamLoaderTest
-  param_loader/param_loader.test
-  param_loader/test.cpp
-  )
-
-target_link_libraries(ParamLoaderTest
-  MrsLib_ParamLoader
-  ${catkin_LIBRARIES}
-  )
-
-add_dependencies(ParamLoaderTest
-  ${${PROJECT_NAME}_EXPORTED_TARGETS}
-  ${catkin_EXPORTED_TARGETS}
-  )
-
-# SubscribeHandlerTest
-
-add_rostest_gtest(SubscribeHandlerTest
-  subscribe_handler/subscribe_handler.test
-  subscribe_handler/test.cpp
-  )
-
-target_link_libraries(SubscribeHandlerTest
-  MrsLib_TimeoutManager
-  ${catkin_LIBRARIES}
-  )
-
-add_dependencies(SubscribeHandlerTest
-  ${${PROJECT_NAME}_EXPORTED_TARGETS}
-  ${catkin_EXPORTED_TARGETS}
-  )
-
-# RepredictorTest
-
-add_rostest_gtest(RepredictorTest
-  repredictor/repredictor.test
-  repredictor/test.cpp
-  )
-
-target_link_libraries(RepredictorTest
-  ${catkin_LIBRARIES}
-  )
-
-add_dependencies(RepredictorTest
-  ${${PROJECT_NAME}_EXPORTED_TARGETS}
-  ${catkin_EXPORTED_TARGETS}
-  )
-
-# TimerTest
-
-add_rostest_gtest(TimerTest
-  timer/timer.test
-  timer/test.cpp
-  )
-
-target_link_libraries(TimerTest
-  MrsLib_Timer
-  MrsLib_Utils
-  ${catkin_LIBRARIES}
-  )
-
-add_dependencies(TimerTest
-  ${${PROJECT_NAME}_EXPORTED_TARGETS}
-  ${catkin_EXPORTED_TARGETS}
-  )
-
-# MedianFilterTest
-
-add_rostest_gtest(MedianFilterTest
-  median_filter/median_filter.test
-  median_filter/test.cpp
-  )
-
-target_link_libraries(MedianFilterTest
-  MrsLib_MedianFilter
-  ${catkin_LIBRARIES}
-  )
-
-add_dependencies(MedianFilterTest
-  ${${PROJECT_NAME}_EXPORTED_TARGETS}
-  ${catkin_EXPORTED_TARGETS}
-  )
-
-# ServiceClientHandlerTest
-
-add_rostest_gtest(ServiceClientHandlerTest
-  service_client_handler/service_client_handler.test
-  service_client_handler/test.cpp
-  )
-
-target_link_libraries(ServiceClientHandlerTest
-  ${catkin_LIBRARIES}
-  )
-
-add_dependencies(ServiceClientHandlerTest
-  ${${PROJECT_NAME}_EXPORTED_TARGETS}
-  ${catkin_EXPORTED_TARGETS}
-  )
-
-# PublisherHandlerTest
-
-add_rostest_gtest(PublisherHandlerTest
-  publisher_handler/publisher_handler.test
-  publisher_handler/test.cpp
-  )
-
-target_link_libraries(PublisherHandlerTest
-  ${catkin_LIBRARIES}
-  )
-
-add_dependencies(PublisherHandlerTest
-  ${${PROJECT_NAME}_EXPORTED_TARGETS}
-  ${catkin_EXPORTED_TARGETS}
-  )
-
-# add_rostest_gtest(VectorConverterTest
-#   vector_converter/vector_converter.test
-#   vector_converter/test.cpp
-#   )
-#
-# target_link_libraries(VectorConverterTest
-#   ${catkin_LIBRARIES}
-#   )
-#
-# target_include_directories(VectorConverterTest PRIVATE
-#   ${pcl_ros_INCLUDE_DIRS}
-#   )
-#
-# add_dependencies(VectorConverterTest
-#   ${${PROJECT_NAME}_EXPORTED_TARGETS}
-#   ${catkin_EXPORTED_TARGETS}
-#   )
+add_subdirectory(./vector_converter)

test/attitude_converter/CMakeLists.txt

@@ -0,0 +1,17 @@
+get_filename_component(TEST_NAME "${CMAKE_CURRENT_SOURCE_DIR}" NAME)
+
+catkin_add_executable_with_gtest(test_${TEST_NAME}
+  test.cpp
+  )
+
+target_link_libraries(test_${TEST_NAME}
+  MrsLib_AttitudeConverter
+  ${catkin_LIBRARIES}
+  )
+
+add_dependencies(test_${TEST_NAME}
+  ${${PROJECT_NAME}_EXPORTED_TARGETS}
+  ${catkin_EXPORTED_TARGETS}
+  )
+
+add_rostest(${TEST_NAME}.test)

test/attitude_converter/attitude_converter.test

@@ -1,6 +1,16 @@
 <launch>
 
-  <test pkg="mrs_lib" type="AttitudeConverterTest" test-name="attitude_converter_test" time-limit="10.0">
+  <arg name="this_path" default="$(dirname)" />
+
+    <!-- automatically deduce the test name -->
+  <arg name="test_name" default="$(eval arg('this_path').split('/')[-1])" />
+
+    <!-- automatically deduce the package name -->
+  <arg name="import_eval" default="eval('_' + '_import_' + '_')"/>
+  <arg name="package_eval" default="eval(arg('import_eval') + '(\'rospkg\')').get_package_name(arg('this_path'))" />
+  <arg name="package" default="$(eval eval(arg('package_eval')))" />
+
+  <test pkg="$(arg package)" type="test_$(arg test_name)" test-name="$(arg test_name)" time-limit="60.0">
   </test>
 
 </launch>

test/compile_tests.sh

@@ -0,0 +1,10 @@
+#!/bin/bash
+
+set -e
+
+trap 'last_command=$current_command; current_command=$BASH_COMMAND' DEBUG
+trap 'echo "$0: \"${last_command}\" command failed with exit code $?"' ERR
+
+# build the package
+catkin build --this # it has to be fully built normally before building with --catkin-make-args tests
+catkin build --this -DMRS_ENABLE_TESTING=1 --no-deps --catkin-make-args tests

test/gather_coverage.sh

@@ -0,0 +1,25 @@
+#!/bin/bash
+
+while [ ! -e ".catkin_tools" ]; do
+  cd ..
+  if [[ `pwd` == "/" ]]; then
+    # we reached the root and didn't find the build/COLCON_IGNORE file - that's a fail!
+    echo "$0: could not find the root of the current workspace".
+    return 1
+  fi
+done
+
+WORKSPACE_NAME=${PWD##*/}
+
+cd build
+
+lcov --capture --directory . --output-file coverage.info
+lcov --remove coverage.info "*/test/*" --output-file coverage.info.removed
+lcov --extract coverage.info.removed "*/${WORKSPACE_NAME}/src/*" --output-file coverage.info.cleaned
+genhtml --title "MRS UAV System - Test coverage report" --demangle-cpp --legend --frames --show-details -o coverage_html coverage.info.cleaned | tee /tmp/genhtml.log
+
+COVERAGE_PCT=`cat /tmp/genhtml.log | tail -n 1 | awk '{print $2}'`
+
+echo "Coverage: $COVERAGE_PCT"
+
+xdg-open coverage_html/index.html

test/geometry/CMakeLists.txt

@@ -0,0 +1,17 @@
+get_filename_component(TEST_NAME "${CMAKE_CURRENT_SOURCE_DIR}" NAME)
+
+catkin_add_executable_with_gtest(test_${TEST_NAME}
+  test.cpp
+  )
+
+target_link_libraries(test_${TEST_NAME}
+  MrsLib_Geometry
+  ${catkin_LIBRARIES}
+  )
+
+add_dependencies(test_${TEST_NAME}
+  ${${PROJECT_NAME}_EXPORTED_TARGETS}
+  ${catkin_EXPORTED_TARGETS}
+  )
+
+add_rostest(${TEST_NAME}.test)

test/geometry/geometry.test

@@ -1,6 +1,16 @@
 <launch>
 
-  <test pkg="mrs_lib" type="GeometryTest" test-name="geometry_test" time-limit="10.0">
+  <arg name="this_path" default="$(dirname)" />
+
+    <!-- automatically deduce the test name -->
+  <arg name="test_name" default="$(eval arg('this_path').split('/')[-1])" />
+
+    <!-- automatically deduce the package name -->
+  <arg name="import_eval" default="eval('_' + '_import_' + '_')"/>
+  <arg name="package_eval" default="eval(arg('import_eval') + '(\'rospkg\')').get_package_name(arg('this_path'))" />
+  <arg name="package" default="$(eval eval(arg('package_eval')))" />
+
+  <test pkg="$(arg package)" type="test_$(arg test_name)" test-name="$(arg test_name)" time-limit="60.0">
   </test>
 
 </launch>