niklas/rcl
1
0
Fork 0
Code Issues Pull requests Projects Releases Packages Wiki Activity Actions

refactoring test layout and cmake logic

Browse source
This commit is contained in:
William Woodall 2016-02-12 00:37:02 -08:00
parent aaa773eb8b
commit 226c39a8af
13 changed files with 281 additions and 175 deletions
Download patch file Download diff file Expand all files Collapse all files

8
rcl/CMakeLists.txt
View file

@ -12,8 +12,8 @@ find_package(rosidl_generator_c REQUIRED)
include_directories(include)
if(NOT WIN32)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wextra")
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -Wextra")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -Wall -Wextra")
endif()
set(${PROJECT_NAME}_sources
@ -47,6 +47,12 @@ macro(target)
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION bin)
# rcl_lib_dir is passed as APPEND_LIBRARY_DIRS for each ament_add_gtest call so
# the librcl that they link against is on the library path.
# This is especially important on Windows.
# This is overwritten each loop, but which one it points to doesn't really matter.
set(rcl_lib_dir "$<TARGET_FILE_DIR:${PROJECT_NAME}${target_suffix}>")
endmacro()
call_for_each_rmw_implementation(target GENERATE_DEFAULT)

176
rcl/test/CMakeLists.txt
View file

@ -1,117 +1,91 @@
find_package(ament_cmake_gtest REQUIRED)
find_package(std_msgs REQUIRED)
include(rcl_add_custom_gtest.cmake)
set(extra_test_libraries)
set(extra_memory_tools_env PHONY=) # Use a phony env var so there is always at least one.
# rcl_lib_dir is passed as APPEND_LIBRARY_DIRS for each ament_add_gtest call so
# the librcl that they link against is on the library path.
# This is especially improtant on Windows.
set(rcl_lib_dir $<TARGET_FILE_DIR:${PROJECT_NAME}>)
ament_find_gtest() # For GTEST_LIBRARIES
if(APPLE)
add_library(${PROJECT_NAME}_memory_tools_interpose SHARED memory_tools_osx_interpose.cpp)
target_link_libraries(${PROJECT_NAME}_memory_tools_interpose ${GTEST_LIBRARIES})
set_target_properties(${PROJECT_NAME}_memory_tools_interpose
PROPERTIES COMPILE_FLAGS "-std=c++11")
list(APPEND extra_test_libraries ${PROJECT_NAME}_memory_tools_interpose)
list(APPEND extra_memory_tools_env
DYLD_INSERT_LIBRARIES=$<TARGET_FILE:${PROJECT_NAME}_memory_tools_interpose>)
endif()
add_library(${PROJECT_NAME}_memory_tools SHARED memory_tools.cpp)
if(NOT WIN32)
set_target_properties(${PROJECT_NAME}_memory_tools PROPERTIES COMPILE_FLAGS "-std=c++11")
endif()
if(UNIX AND NOT APPLE)
list(APPEND extra_test_libraries dl)
list(APPEND extra_memory_tools_env DL_PRELOAD=$<TARGET_FILE:${PROJECT_NAME}_memory_tools>)
endif()
target_link_libraries(${PROJECT_NAME}_memory_tools ${extra_test_libraries})
target_compile_definitions(${PROJECT_NAME}_memory_tools
PRIVATE "RCL_MEMORY_TOOLS_BUILDING_DLL")
list(APPEND extra_test_libraries ${PROJECT_NAME}_memory_tools)
set(extra_test_env)
if(NOT WIN32)
ament_add_gtest(test_memory_tools test_memory_tools.cpp
ENV ${extra_memory_tools_env} APPEND_LIBRARY_DIRS ${rcl_lib_dir})
if(TARGET test_memory_tools)
target_include_directories(test_memory_tools PUBLIC
${rcl_interfaces_INCLUDE_DIRS}
${rmw_INCLUDE_DIRS}
# This subdirectory extends both extra_test_libraries and extra_test_env.
add_subdirectory(memory_tools)
macro(test_target)
find_package(${rmw_implementation} REQUIRED)
test_target_function()
endmacro()
function(test_target_function)
# TODO(wjwwood): remove these when C type support is supported by typesupport_introspection.
# after removing, we can also recombine the function and macro
if("${rmw_implementation} " STREQUAL "rmw_connext_dynamic_cpp ")
message(STATUS "Skipping tests for '${rmw_implementation}'")
return()
endif()
if("${rmw_implementation} " STREQUAL "rmw_fastrtps_cpp ")
message(STATUS "Skipping tests for '${rmw_implementation}'")
return()
endif()
message(STATUS "Creating tests for '${rmw_implementation}'")
rcl_add_custom_gtest(test_allocator${target_suffix}
SRCS rcl/test_allocator.cpp
ENV ${extra_test_env}
APPEND_LIBRARY_DIRS "${rcl_lib_dir}"
LIBRARIES ${PROJECT_NAME}${target_suffix} ${extra_test_libraries}
AMENT_DEPENDENCIES ${rmw_implementation}
)
if(NOT WIN32)
set_target_properties(test_memory_tools PROPERTIES COMPILE_FLAGS "-std=c++11")
endif()
target_link_libraries(test_memory_tools ${PROJECT_NAME} ${extra_test_libraries})
endif()
endif()
ament_add_gtest(test_allocator rcl/test_allocator.cpp
ENV ${extra_memory_tools_env} APPEND_LIBRARY_DIRS ${rcl_lib_dir})
if(TARGET test_allocator)
target_include_directories(test_allocator PUBLIC
${rcl_interfaces_INCLUDE_DIRS}
${rmw_INCLUDE_DIRS}
rcl_add_custom_gtest(test_time${target_suffix}
SRCS rcl/test_time.cpp
ENV ${extra_test_env}
APPEND_LIBRARY_DIRS "${rcl_lib_dir}"
LIBRARIES ${PROJECT_NAME}${target_suffix} ${extra_test_libraries}
AMENT_DEPENDENCIES ${rmw_implementation}
)
if(NOT WIN32)
set_target_properties(test_allocator PROPERTIES COMPILE_FLAGS "-std=c++11")
endif()
target_link_libraries(test_allocator ${PROJECT_NAME} ${extra_test_libraries})
endif()
ament_add_gtest(test_time rcl/test_time.cpp
ENV ${extra_memory_tools_env} APPEND_LIBRARY_DIRS ${rcl_lib_dir})
if(TARGET test_time)
target_include_directories(test_time PUBLIC
${rcl_interfaces_INCLUDE_DIRS}
${rmw_INCLUDE_DIRS}
)
if(NOT WIN32)
set_target_properties(test_time PROPERTIES COMPILE_FLAGS "-std=c++11")
endif()
target_link_libraries(test_time ${PROJECT_NAME} ${extra_test_libraries})
endif()
ament_add_gtest(test_common
rcl/test_common.cpp
rcl_add_custom_gtest(test_common${target_suffix}
SRCS rcl/test_common.cpp
ENV
${extra_memory_tools_env}
${extra_test_env}
EMPTY_TEST=
NORMAL_TEST=foo
APPEND_LIBRARY_DIRS
${rcl_lib_dir}
APPEND_LIBRARY_DIRS "${rcl_lib_dir}"
LIBRARIES ${PROJECT_NAME}${target_suffix} ${extra_test_libraries}
AMENT_DEPENDENCIES ${rmw_implementation}
)
if(TARGET test_common)
target_include_directories(test_common PUBLIC
${rcl_interfaces_INCLUDE_DIRS}
${rmw_INCLUDE_DIRS}
)
if(NOT WIN32)
set_target_properties(test_common PROPERTIES COMPILE_FLAGS "-std=c++11")
endif()
target_link_libraries(test_common ${PROJECT_NAME} ${extra_test_libraries})
endif()
ament_add_gtest(test_rcl rcl/test_rcl.cpp
ENV ${extra_memory_tools_env} APPEND_LIBRARY_DIRS ${rcl_lib_dir})
if(TARGET test_rcl)
target_include_directories(test_rcl PUBLIC
${rcl_interfaces_INCLUDE_DIRS}
${rmw_INCLUDE_DIRS}
rcl_add_custom_gtest(test_rcl${target_suffix}
SRCS rcl/test_rcl.cpp
ENV ${extra_test_env}
APPEND_LIBRARY_DIRS "${rcl_lib_dir}"
LIBRARIES ${PROJECT_NAME}${target_suffix} ${extra_test_libraries}
AMENT_DEPENDENCIES ${rmw_implementation}
)
if(NOT WIN32)
set_target_properties(test_rcl PROPERTIES COMPILE_FLAGS "-std=c++11")
endif()
target_link_libraries(test_rcl ${PROJECT_NAME} ${extra_test_libraries})
endif()
ament_add_gtest(test_node rcl/test_node.cpp
ENV ${extra_memory_tools_env} APPEND_LIBRARY_DIRS ${rcl_lib_dir})
if(TARGET test_node)
target_include_directories(test_node PUBLIC
${rcl_interfaces_INCLUDE_DIRS}
${rmw_INCLUDE_DIRS}
rcl_add_custom_gtest(test_node${target_suffix}
SRCS rcl/test_node.cpp
ENV ${extra_test_env}
APPEND_LIBRARY_DIRS "${rcl_lib_dir}"
LIBRARIES ${PROJECT_NAME}${target_suffix} ${extra_test_libraries}
AMENT_DEPENDENCIES ${rmw_implementation}
)
if(NOT WIN32)
set_target_properties(test_node PROPERTIES COMPILE_FLAGS "-std=c++11")
endif()
target_link_libraries(test_node ${PROJECT_NAME} ${extra_test_libraries})
endif()
rcl_add_custom_gtest(test_publisher${target_suffix}
SRCS rcl/test_publisher.cpp
ENV ${extra_test_env}
APPEND_LIBRARY_DIRS "${rcl_lib_dir}"
LIBRARIES ${PROJECT_NAME}${target_suffix} ${extra_test_libraries}
AMENT_DEPENDENCIES ${rmw_implementation} "std_msgs"
)
rcl_add_custom_gtest(test_subscription${target_suffix}
SRCS rcl/test_subscription.cpp
ENV ${extra_test_env}
APPEND_LIBRARY_DIRS "${rcl_lib_dir}"
LIBRARIES ${PROJECT_NAME}${target_suffix} ${extra_test_libraries}
AMENT_DEPENDENCIES ${rmw_implementation} "std_msgs"
)
endfunction()
call_for_each_rmw_implementation(test_target)

36
rcl/test/memory_tools/CMakeLists.txt Normal file
View file

@ -0,0 +1,36 @@
ament_find_gtest() # For GTEST_LIBRARIES
# Create the memory_tools library which is used by the tests. (rmw implementation agnostic)
add_library(${PROJECT_NAME}_memory_tools SHARED memory_tools.cpp)
if(APPLE)
# Create an OS X specific version of the memory tools that does interposing.
# See: http://toves.freeshell.org/interpose/
add_library(${PROJECT_NAME}_memory_tools_interpose SHARED memory_tools_osx_interpose.cpp)
target_link_libraries(${PROJECT_NAME}_memory_tools_interpose ${GTEST_LIBRARIES})
list(APPEND extra_test_libraries ${PROJECT_NAME}_memory_tools_interpose)
list(APPEND extra_test_env
DYLD_INSERT_LIBRARIES=$<TARGET_FILE:${PROJECT_NAME}_memory_tools_interpose>)
endif()
if(UNIX AND NOT APPLE)
# On Linux like systems, add dl and use the normal library and DL_PRELOAD.
list(APPEND extra_test_libraries dl)
list(APPEND extra_test_env DL_PRELOAD=$<TARGET_FILE:${PROJECT_NAME}_memory_tools>)
endif()
target_link_libraries(${PROJECT_NAME}_memory_tools ${extra_test_libraries})
target_compile_definitions(${PROJECT_NAME}_memory_tools
PRIVATE "RCL_MEMORY_TOOLS_BUILDING_DLL")
list(APPEND extra_test_libraries ${PROJECT_NAME}_memory_tools)
# Create tests for the memory tools library.
if(NOT WIN32) # (memory tools doesn't do anything on Windows)
include(../rcl_add_custom_gtest.cmake)
rcl_add_custom_gtest(test_memory_tools
SRCS test_memory_tools.cpp
ENV ${extra_test_env}
LIBRARIES ${extra_test_libraries}
)
endif()
set(extra_test_libraries ${extra_test_libraries} PARENT_SCOPE)
set(extra_test_env ${extra_test_env} PARENT_SCOPE)

6
rcl/test/memory_tools.cpp → rcl/test/memory_tools/memory_tools.cpp
View file

@ -55,14 +55,16 @@ free(void * pointer)
void start_memory_checking()
{
if (!enabled.exchange(true)) {
printf("starting memory checking...\n");
enabled.store(true);
}
}
void stop_memory_checking()
{
if (enabled.exchange(false)) {
printf("stopping memory checking...\n");
enabled.store(false);
}
}
/******************************************************************************

31
rcl/test/memory_tools.hpp → rcl/test/memory_tools/memory_tools.hpp
View file

@ -16,8 +16,8 @@
// https://dxr.mozilla.org/mozilla-central/rev/
// cc9c6cd756cb744596ba039dcc5ad3065a7cc3ea/memory/build/replace_malloc.c
#ifndef MEMORY_TOOLS_HPP_
#define MEMORY_TOOLS_HPP_
#ifndef RCL__TEST__MEMORY_TOOLS__MEMORY_TOOLS_HPP_
#define RCL__TEST__MEMORY_TOOLS__MEMORY_TOOLS_HPP_
#include <stddef.h>
@ -104,4 +104,29 @@ RCL_MEMORY_TOOLS_PUBLIC
void
memory_checking_thread_init();
#endif // MEMORY_TOOLS_HPP_
// What follows is a set of failing allocator functions, used for testing.
void *
failing_malloc(size_t size, void * state)
{
(void)size;
(void)state;
return nullptr;
}
void *
failing_realloc(void * pointer, size_t size, void * state)
{
(void)pointer;
(void)size;
(void)state;
return nullptr;
}
void
failing_free(void * pointer, void * state)
{
(void)pointer;
(void)state;
}
#endif // RCL__TEST__MEMORY_TOOLS__MEMORY_TOOLS_HPP_

12
rcl/test/memory_tools_common.cpp → rcl/test/memory_tools/memory_tools_common.cpp
View file

@ -25,7 +25,7 @@
#endif // defined(__APPLE__)
#include "./memory_tools.hpp"
#include "./scope_exit.hpp"
#include "../scope_exit.hpp"
static std::atomic<bool> enabled(false);
@ -65,9 +65,11 @@ custom_malloc(size_t size)
}
void * memory = malloc(size);
uint64_t fw_size = size;
if (!malloc_expected) {
MALLOC_PRINTF(
" malloc (%s) %p %" PRIu64 "\n",
malloc_expected ? " expected" : "not expected", memory, fw_size);
}
return memory;
}
@ -107,9 +109,11 @@ custom_realloc(void * memory_in, size_t size)
}
void * memory = realloc(memory_in, size);
uint64_t fw_size = size;
if (!realloc_expected) {
MALLOC_PRINTF(
"realloc (%s) %p %p %" PRIu64 "\n",
malloc_expected ? " expected" : "not expected", memory_in, memory, fw_size);
realloc_expected ? " expected" : "not expected", memory_in, memory, fw_size);
}
return memory;
}
@ -147,8 +151,10 @@ custom_free(void * memory)
(*unexpected_free_callback)();
}
}
if (!free_expected) {
MALLOC_PRINTF(
" free (%s) %p\n", malloc_expected ? " expected" : "not expected", memory);
" free (%s) %p\n", free_expected ? " expected" : "not expected", memory);
}
free(memory);
}

6
rcl/test/memory_tools_osx_interpose.cpp → rcl/test/memory_tools/memory_tools_osx_interpose.cpp
View file

@ -40,14 +40,16 @@ typedef struct interpose_s
void osx_start_memory_checking()
{
// No loading required, it is handled by DYLD_INSERT_LIBRARIES and dynamic library interposing.
if (!enabled.exchange(true)) {
MALLOC_PRINTF("starting memory checking...\n");
enabled.store(true);
}
}
void osx_stop_memory_checking()
{
if (enabled.exchange(false)) {
MALLOC_PRINTF("stopping memory checking...\n");
enabled.store(false);
}
}
OSX_INTERPOSE(custom_malloc, malloc);

0
rcl/test/test_memory_tools.cpp → rcl/test/memory_tools/test_memory_tools.cpp
View file

2
rcl/test/rcl/test_allocator.cpp
View file

@ -16,7 +16,7 @@
#include "rcl/allocator.h"
#include "../memory_tools.hpp"
#include "../memory_tools/memory_tools.hpp"
class TestAllocatorFixture : public ::testing::Test
{

26
rcl/test/rcl/test_node.cpp
View file

@ -20,7 +20,7 @@
#include "rcl/node.h"
#include "rmw/rmw.h" // For rmw_get_implementation_identifier.
#include "../memory_tools.hpp"
#include "../memory_tools/memory_tools.hpp"
#include "../scope_exit.hpp"
#include "rcl/error_handling.h"
@ -47,30 +47,6 @@ public:
}
};
void *
failing_malloc(size_t size, void * state)
{
(void)(size);
(void)(state);
return nullptr;
}
void *
failing_realloc(void * pointer, size_t size, void * state)
{
(void)(pointer);
(void)(size);
(void)(state);
return nullptr;
}
void
failing_free(void * pointer, void * state)
{
(void)pointer;
(void)state;
}
bool is_opensplice =
std::string(rmw_get_implementation_identifier()).find("opensplice") != std::string::npos;
#if defined(WIN32)

29
rcl/test/rcl/test_rcl.cpp
View file

@ -16,7 +16,7 @@
#include "rcl/rcl.h"
#include "../memory_tools.hpp"
#include "../memory_tools/memory_tools.hpp"
#include "rcl/error_handling.h"
class TestRCLFixture : public ::testing::Test
@ -42,30 +42,6 @@ public:
}
};
void *
failing_malloc(size_t size, void * state)
{
(void)(size);
(void)(state);
return nullptr;
}
void *
failing_realloc(void * pointer, size_t size, void * state)
{
(void)(pointer);
(void)(size);
(void)(state);
return nullptr;
}
void
failing_free(void * pointer, void * state)
{
(void)pointer;
(void)state;
}
struct FakeTestArgv
{
FakeTestArgv()
@ -97,6 +73,9 @@ struct FakeTestArgv
int argc;
char ** argv;
private:
FakeTestArgv(const FakeTestArgv &) = delete;
};
/* Tests the rcl_init(), rcl_ok(), and rcl_shutdown() functions.

2
rcl/test/rcl/test_time.cpp
View file

@ -22,7 +22,7 @@
#include "rcl/error_handling.h"
#include "rcl/time.h"
#include "../memory_tools.hpp"
#include "../memory_tools/memory_tools.hpp"
class TestTimeFixture : public ::testing::Test
{

100
rcl/test/rcl_add_custom_gtest.cmake Normal file
View file

@ -0,0 +1,100 @@
# Copyright 2016 Open Source Robotics Foundation, Inc.
#
# 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.
if(rcl_add_custom_gtest_INCLUDED)
return()
endif()
set(rcl_add_custom_gtest_INCLUDED TRUE)
# include CMake functions
include(CMakeParseArguments)
#
# Custom macro for adding a gtest in rcl.
#
# It also takes some of the arguments of ament_add_gtest as well as
# INCLUDE_DIRS, LIBRARIES, and AMENT_DEPENDENCIES which are passed to
# target_include_directories(), target_link_libraries(), and
# ament_target_dependencies() respectively.
#
# :param target: the target name which will also be used as the test name
# :type target: string
# :param SRCS: list of source files used to create the gtest
# :type SRCS: list of strings
# :param ENV: list of env vars to set; listed as ``VAR=value``
# :type ENV: list of strings
# :param APPEND_ENV: list of env vars to append if already set, otherwise set;
# listed as ``VAR=value``
# :type APPEND_ENV: list of strings
# :param APPEND_LIBRARY_DIRS: list of library dirs to append to the appropriate
# OS specific env var, a la LD_LIBRARY_PATH
# :type APPEND_LIBRARY_DIRS: list of strings
# :param INCLUDE_DIRS: list of include directories to add to the target
# :type INCLUDE_DIRS: list of strings
# :param LIBRARIES: list of libraries to link to the target
# :type LIBRARIES: list of strings
# :param AMENT_DEPENDENCIES: list of depends to pass ament_target_dependencies
# :type AMENT_DEPENDENCIES: list of strings
#
# @public
#
macro(rcl_add_custom_gtest target)
cmake_parse_arguments(_ARG
"TRACE"
""
"SRCS;ENV;APPEND_ENV;APPEND_LIBRARY_DIRS;INCLUDE_DIRS;LIBRARIES;AMENT_DEPENDENCIES"
${ARGN})
if(_ARG_UNPARSED_ARGUMENTS)
message(FATAL_ERROR "rcl_add_custom_gtest() called with unused arguments: ${_ARG_UNPARSED_ARGUMENTS}")
endif()
if(_ARG_ENV)
set(_ARG_ENV "ENV" ${_ARG_ENV})
endif()
if(_ARG_APPEND_ENV)
set(_ARG_APPEND_ENV "APPEND_ENV" ${_ARG_APPEND_ENV})
endif()
if(_ARG_APPEND_LIBRARY_DIRS)
set(_ARG_APPEND_LIBRARY_DIRS "APPEND_LIBRARY_DIRS" ${_ARG_APPEND_LIBRARY_DIRS})
endif()
# Pass args along to ament_add_gtest().
ament_add_gtest(${target} ${_ARG_SRCS} ${_ARG_ENV} ${_ARG_APPEND_ENV} ${_ARG_APPEND_LIBRARY_DIRS})
# Check if the target was actually created.
if(TARGET ${target})
if(_ARG_TRACE)
message(STATUS "rcl_add_custom_gtest() Target '${target}':")
endif()
# Add extra include directories, if any.
if(_ARG_INCLUDE_DIRS)
if(_ARG_TRACE)
message(STATUS " rcl_add_custom_gtest() INCLUDE_DIRS: ${_ARG_INCLUDE_DIRS}")
endif()
target_include_directories(${target} PUBLIC ${_ARG_INCLUDE_DIRS})
endif()
# Add extra link libraries, if any.
if(_ARG_LIBRARIES)
if(_ARG_TRACE)
message(STATUS " rcl_add_custom_gtest() LIBRARIES: ${_ARG_LIBRARIES}")
endif()
target_link_libraries(${target} ${_ARG_LIBRARIES})
endif()
# Add extra ament dependencies, if any.
if(_ARG_AMENT_DEPENDENCIES)
if(_ARG_TRACE)
message(STATUS " rcl_add_custom_gtest() AMENT_DEPENDENCIES: ${_ARG_AMENT_DEPENDENCIES}")
endif()
ament_target_dependencies(${target} ${_ARG_AMENT_DEPENDENCIES})
endif()
endif()
endmacro()