Revive the C++ tests, make them pass and enable them on the CI

.circleci/config.yml

@@ -190,7 +190,7 @@ jobs:
               export PATH=$HOME/miniconda/bin:$PATH
               . activate habitat
               export PYTHONPATH=$PYTHONPATH:$(pwd)
-              ./build.sh --headless
+              GTEST_COLOR=yes ./build.sh --headless --run-tests
               pytest
       - run:
           name: Install api

build.sh

@@ -36,18 +36,6 @@ fi
 python setup.py build_ext --inplace "${builder_args[@]}"
 
 if [ "$RUN_TESTS" = true ] ; then
-  cd ..
-  echo "Running tests..."
-  TEST_SCRIPTS=$(find "build/tests" -type f -perm +111)
-  declare -i RET_VAL=0
-  for test_script in $TEST_SCRIPTS ; do
-    echo "Running $test_script"
-    $test_script
-    RET_VAL+=$?
-  done
-  if [ "$RET_VAL" -ne 0 ] ; then
-    echo "Some tests failed."
-  else
-    echo "All tests passed."
-  fi
+  cd build
+  ctest -V
 fi

src/CMakeLists.txt

@@ -77,6 +77,7 @@ endif()
 # build tests
 if(BUILD_TEST)
   message("Building TESTS")
+  enable_testing()
   add_subdirectory(tests)
 endif()
 

src/cmake/dependencies.cmake

@@ -40,6 +40,11 @@ include_directories(SYSTEM "${DEPS_DIR}/Sophus")
 if(CORRADE_TARGET_EMSCRIPTEN)
   add_library(glog INTERFACE)
 else()
+  # We don't want glog tests to be run as part of our build. The BUILD_TESTING
+  # variable is set by include(CTest) as an option(). In CMake 3.13+ it should
+  # be enough to do just set(BUILD_TESTING OFF) to avoid the option()
+  # overriding it, but https://cmake.org/cmake/help/latest/policy/CMP0077.html.
+  option(BUILD_TESTING "ugh" OFF)
   add_subdirectory("${DEPS_DIR}/glog")
 endif()
 

src/tests/CMakeLists.txt

@@ -1,30 +1,43 @@
-cmake_minimum_required(VERSION 3.0)
-
 macro(TEST TEST_NAME)
   add_executable(${TEST_NAME} "${TEST_NAME}.cpp")
   target_link_libraries(${TEST_NAME} core gtest_main)
   set(DEPENDENCIES "${ARGN}")
   foreach(DEPENDENCY IN LISTS DEPENDENCIES)
     target_link_libraries(${TEST_NAME} ${DEPENDENCY})
   endforeach()
-  # set_target_properties(${TEST_NAME} PROPERTIES FOLDER "tests"
-  #   RUNTIME_OUTPUT_DIRECTORY "${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/tests")
+  add_test(${TEST_NAME} ${TEST_NAME})
 endmacro(TEST)
 
+set(SCENE_DATASETS ${CMAKE_CURRENT_SOURCE_DIR}/../../data/scene_datasets)
+configure_file(${CMAKE_CURRENT_SOURCE_DIR}/configure.h.cmake
+               ${CMAKE_CURRENT_BINARY_DIR}/configure.h)
+
 TEST(CoreTest io)
+
 TEST(NavTest nav assets)
+target_include_directories(NavTest PRIVATE ${CMAKE_CURRENT_BINARY_DIR})
+
 TEST(IOTest io)
+target_include_directories(IOTest PRIVATE ${CMAKE_CURRENT_BINARY_DIR})
+
 TEST(GeoTest geo)
+
 TEST(Mp3dTest scene)
+target_include_directories(Mp3dTest PRIVATE ${CMAKE_CURRENT_BINARY_DIR})
+
 TEST(SimTest sim)
+target_include_directories(SimTest PRIVATE ${CMAKE_CURRENT_BINARY_DIR})
+
 TEST(SuncgTest scene)
-TEST(main)
-
-# file(GLOB_RECURSE TEST_SRCS "*.cpp")
-# foreach(test_src ${TEST_SRCS})
-#   get_filename_component(test_name ${test_src} NAME_WE)
-#   add_executable(${test_name} "${test_src}")
-#   # target_link_libraries(${test_name} ${Caffe2_MAIN_LIBS} gtest_main)
-#   target_link_libraries(${test_name} assets glog gtest_main)
-#   add_test(NAME ${test_name} COMMAND $<TARGET_FILE:${test_name}>)
-# endforeach()
+target_include_directories(SuncgTest PRIVATE ${CMAKE_CURRENT_BINARY_DIR})
+
+# Some tests are LOUD, we don't want to include their full log (but OTOH we
+# want to have full log from others, so this is a compromise)
+set_tests_properties(
+  NavTest
+  Mp3dTest
+  SuncgTest
+  PROPERTIES ENVIRONMENT GLOG_minloglevel=1
+)
+set_tests_properties(SimTest PROPERTIES
+  ENVIRONMENT "GLOG_minloglevel=1;MAGNUM_LOG=QUIET")

src/tests/CoreTest.cpp

@@ -10,10 +10,6 @@
 
 using namespace esp::core;
 
-TEST(CoreTest, TwoPlusTwo) {
-  EXPECT_EQ(4, 2 + 2);
-}
-
 TEST(CoreTest, ConfigurationTest) {
   Configuration cfg;
   cfg.set("myInt", 10);

src/tests/IOTest.cpp

@@ -6,10 +6,12 @@
 #include "esp/core/esp.h"
 #include "esp/io/io.h"
 
+#include "configure.h"
+
 using namespace esp::io;
 
 TEST(IOTest, fileExistTest) {
-  std::string file = "build/tests/IOTest";
+  std::string file = FILE_THAT_EXISTS;
   bool result = exists(file);
   EXPECT_TRUE(result);
 
@@ -19,7 +21,7 @@ TEST(IOTest, fileExistTest) {
 }
 
 TEST(IOTest, fileSizeTest) {
-  std::string existingFile = "build/tests/IOTest";
+  std::string existingFile = FILE_THAT_EXISTS;
   auto result = fileSize(existingFile);
   LOG(INFO) << "File size of " << existingFile << " is " << result;
 

src/tests/Mp3dTest.cpp

@@ -2,20 +2,30 @@
 // This source code is licensed under the MIT license found in the
 // LICENSE file in the root directory of this source tree.
 
+#include <Corrade/Utility/Directory.h>
 #include <gtest/gtest.h>
 
 #include "esp/scene/SemanticScene.h"
 
+#include "configure.h"
+
+namespace Cr = Corrade;
+
 using namespace esp;
 using namespace esp::geo;
 using namespace esp::scene;
 
 TEST(Mp3dTest, Load) {
+  const std::string filename = Cr::Utility::Directory::join(
+      SCENE_DATASETS, "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.house");
+  if (!Cr::Utility::Directory::exists(filename))
+    GTEST_SKIP_("MP3D dataset not found.");
+
   SemanticScene house;
   const quatf alignGravity =
       quatf::FromTwoVectors(-vec3f::UnitZ(), ESP_GRAVITY);
   const quatf alignFront = quatf::FromTwoVectors(-vec3f::UnitX(), ESP_FRONT);
-  SemanticScene::loadMp3dHouse("test.house", house, alignFront * alignGravity);
+  SemanticScene::loadMp3dHouse(filename, house, alignFront * alignGravity);
   LOG(INFO) << "House{nobjects:" << house.count("objects")
             << ",nlevels:" << house.count("levels")
             << ",nregions:" << house.count("regions")

src/tests/NavTest.cpp

@@ -2,14 +2,20 @@
 // This source code is licensed under the MIT license found in the
 // LICENSE file in the root directory of this source tree.
 
+#include <Corrade/Utility/Directory.h>
 #include <gtest/gtest.h>
+
 #include "esp/agent/Agent.h"
 #include "esp/core/esp.h"
 #include "esp/core/random.h"
 #include "esp/nav/PathFinder.h"
 #include "esp/scene/ObjectControls.h"
 #include "esp/scene/SceneGraph.h"
 
+#include "configure.h"
+
+namespace Cr = Corrade;
+
 using namespace esp;
 using namespace esp::nav;
 
@@ -44,7 +50,8 @@ void testPathFinder(PathFinder& pf) {
 
 TEST(NavTest, PathFinderLoadTest) {
   PathFinder pf;
-  pf.loadNavMesh("test.navmesh");
+  pf.loadNavMesh(Cr::Utility::Directory::join(
+      SCENE_DATASETS, "habitat-test-scenes/skokloster-castle.navmesh"));
   testPathFinder(pf);
 }
 
@@ -79,7 +86,8 @@ void printRandomizedPathSet(PathFinder& pf) {
 
 TEST(NavTest, PathFinderTestCases) {
   PathFinder pf;
-  pf.loadNavMesh("test.navmesh");
+  pf.loadNavMesh(Cr::Utility::Directory::join(
+      SCENE_DATASETS, "habitat-test-scenes/skokloster-castle.navmesh"));
   ShortestPath testPath;
   testPath.requestedStart = vec3f(-6.493, 0.072, -3.292);
   testPath.requestedEnd = vec3f(-8.98, 0.072, -0.62);

src/tests/SimTest.cpp

@@ -2,46 +2,52 @@
 // This source code is licensed under the MIT license found in the
 // LICENSE file in the root directory of this source tree.
 
+#include <Corrade/Utility/Directory.h>
 #include <gtest/gtest.h>
+#include <string>
 
 #include "esp/sim/SimulatorWithAgents.h"
 
-#include <string>
+#include "configure.h"
+
+namespace Cr = Corrade;
 
 using esp::gfx::SimulatorConfiguration;
 using esp::nav::PathFinder;
 using esp::scene::SceneConfiguration;
 using esp::sim::SimulatorWithAgents;
 
 const std::string vangogh =
-    "../data/scene_datasets/habitat-test-scenes/van-gogh-room.glb";
+    Cr::Utility::Directory::join(SCENE_DATASETS,
+                                 "habitat-test-scenes/van-gogh-room.glb");
 const std::string skokloster =
-    "../data/scene_datasets/habitat-test-scenes/skokloster-castle.glb";
+    Cr::Utility::Directory::join(SCENE_DATASETS,
+                                 "habitat-test-scenes/skokloster-castle.glb");
 
 TEST(SimTest, Basic) {
-  SceneConfiguration scene{.id = vangogh};
-  SimulatorConfiguration cfg{.scene = scene};
+  SimulatorConfiguration cfg;
+  cfg.scene.id = vangogh;
   SimulatorWithAgents simulator(cfg);
   PathFinder::ptr pathfinder = simulator.getPathFinder();
   ASSERT_NE(pathfinder, nullptr);
 }
 
 TEST(SimTest, Reconfigure) {
-  SceneConfiguration scene{.id = vangogh};
-  SimulatorConfiguration cfg{.scene = scene};
+  SimulatorConfiguration cfg;
+  cfg.scene.id = vangogh;
   SimulatorWithAgents simulator(cfg);
   PathFinder::ptr pathfinder = simulator.getPathFinder();
   simulator.reconfigure(cfg);
   ASSERT_EQ(pathfinder, simulator.getPathFinder());
-  SceneConfiguration scene2{.id = skokloster};
-  SimulatorConfiguration cfg2{.scene = scene2};
+  SimulatorConfiguration cfg2;
+  cfg2.scene.id = skokloster;
   simulator.reconfigure(cfg2);
   ASSERT_NE(pathfinder, simulator.getPathFinder());
 }
 
 TEST(SimTest, Reset) {
-  SceneConfiguration scene{.id = vangogh};
-  SimulatorConfiguration cfg{.scene = scene};
+  SimulatorConfiguration cfg;
+  cfg.scene.id = vangogh;
   SimulatorWithAgents simulator(cfg);
   PathFinder::ptr pathfinder = simulator.getPathFinder();
   simulator.reset();

src/tests/SuncgTest.cpp

@@ -2,17 +2,27 @@
 // This source code is licensed under the MIT license found in the
 // LICENSE file in the root directory of this source tree.
 
+#include <Corrade/Utility/Directory.h>
 #include <gtest/gtest.h>
 
 #include "esp/scene/SemanticScene.h"
 
+#include "configure.h"
+
+namespace Cr = Corrade;
+
 using namespace esp;
 using namespace esp::geo;
 using namespace esp::scene;
 
 TEST(SuncgTest, Load) {
+  const std::string filename = Cr::Utility::Directory::join(
+      SCENE_DATASETS, "suncg/0a0b9b45a1db29832dd84e80c1347854.json");
+  if (!Cr::Utility::Directory::exists(filename))
+    GTEST_SKIP_("SUNCG dataset not found.");
+
   SemanticScene house;
-  SemanticScene::loadSuncgHouse("test.json", house);
+  SemanticScene::loadSuncgHouse(filename, house);
   LOG(INFO) << "House, bbox:" << house.aabb();
 
   for (auto& level : house.levels()) {

src/tests/configure.h.cmake

@@ -0,0 +1,7 @@
+// Copyright (c) Facebook, Inc. and its affiliates.
+// This source code is licensed under the MIT license found in the
+// LICENSE file in the root directory of this source tree.
+
+#define SCENE_DATASETS "${SCENE_DATASETS}"
+
+#define FILE_THAT_EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/IOTest.cpp"