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Make test_action_communication to be compiled against all available rmw"

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This commit is contained in:
Alexis Pojomovsky 2018-12-04 13:48:25 -03:00 • committed by Alexis Pojomovsky
parent b1c4d95abe
commit 316c62d20d
1 changed files with 63 additions and 11 deletions
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74
rcl_action/CMakeLists.txt
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@ -9,6 +9,7 @@ find_package(action_msgs REQUIRED)
find_package(rcl REQUIRED) find_package(rcl REQUIRED)
find_package(rcutils REQUIRED) find_package(rcutils REQUIRED)
find_package(rmw REQUIRED) find_package(rmw REQUIRED)
find_package(rmw_implementation_cmake REQUIRED)
include_directories( include_directories(
include include
@ -95,19 +96,70 @@ if(BUILD_TESTING)
) )
ament_target_dependencies(test_action_client "rcl" "test_msgs") ament_target_dependencies(test_action_client "rcl" "test_msgs")
endif() endif()
ament_add_gtest(test_action_communication
test/rcl_action/test_action_communication.cpp # get the rmw implementations ahead of time
) find_package(rmw_implementation_cmake REQUIRED)
if(TARGET test_action_communication) get_available_rmw_implementations(rmw_implementations)
target_include_directories(test_action_communication PUBLIC foreach(rmw_implementation ${rmw_implementations})
include find_package("${rmw_implementation}" REQUIRED)
${rcl_INCLUDE_DIRS} endforeach()
function(custom_test_c target)
ament_add_gtest(
"test_action_communication_${target_suffix}" ${ARGN}
TIMEOUT 10
APPEND_LIBRARY_DIRS "${append_library_dirs}"
ENV
RCL_ASSERT_RMW_ID_MATCHES=${rmw_implementation}
RMW_IMPLEMENTATION=${rmw_implementation}
ROS_SECURITY_ROOT_DIRECTORY="${VALID_ROS_SECURITY_ROOT_DIRECTORY}"
PATH="${TEST_PATH}"
) )
target_link_libraries(test_action_communication if(TARGET test_action_communication_${target_suffix})
${PROJECT_NAME} target_compile_definitions(test_action_communication_${target_suffix}
PUBLIC "RMW_IMPLEMENTATION=${rmw_implementation}")
target_include_directories(test_action_communication_${target_suffix} PUBLIC
include
${rcl_INCLUDE_DIRS}
)
target_link_libraries(test_action_communication_${target_suffix}
${PROJECT_NAME}
)
ament_target_dependencies(test_action_communication_${target_suffix}
"test_msgs")
endif()
endfunction()
macro(targets)
set(VALID_ROS_SECURITY_ROOT_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}/test/test_security_files")
set(ENV_PATH "$ENV{PATH}")
file(TO_CMAKE_PATH "${ENV_PATH}" ENV_PATH)
set(TEST_PATH "${ENV_PATH}")
if(rmw_implementation STREQUAL "rmw_connext_cpp")
if(UNIX AND NOT APPLE)
set(RTI_BIN_PATH "$ENV{RTI_OPENSSL_BIN}")
file(TO_CMAKE_PATH "${RTI_BIN_PATH}" RTI_BIN_PATH)
set(TEST_PATH "${RTI_BIN_PATH};${ENV_PATH}")
if(NOT WIN32)
string(REPLACE ";" ":" TEST_PATH "${TEST_PATH}")
endif()
endif()
endif()
if(
rmw_implementation STREQUAL "rmw_connext_cpp" OR
rmw_implementation STREQUAL "rmw_connext_dynamic_cpp" OR
rmw_implementation STREQUAL "rmw_fastrtps_cpp" OR
rmw_implementation STREQUAL "rmw_fastrtps_dynamic_cpp"
) )
ament_target_dependencies(test_action_communication "test_msgs") custom_test_c(rcl_action
endif() "test/rcl_action/test_action_communication.cpp")
endif()
endmacro()
call_for_each_rmw_implementation(targets)
ament_add_gtest(test_action_server ament_add_gtest(test_action_server
test/rcl_action/test_action_server.cpp test/rcl_action/test_action_server.cpp
) )