Build examples from CMake rather than executable (#482)

Signed-off-by: Michael Carroll <michael@openrobotics.org>
Signed-off-by: Michael Carroll <mjcarroll@intrinsic.ai>

CMakeLists.txt

@@ -10,6 +10,7 @@ project(gz-math7 VERSION 7.2.0)
 #============================================================================
 # If you get an error at this line, you need to install gz-cmake
 find_package(gz-cmake3 REQUIRED)
+set(GZ_CMAKE_VER ${gz-cmake3_VERSION_MAJOR})
 
 #============================================================================
 # Configure the project
@@ -144,3 +145,13 @@ configure_file(${CMAKE_SOURCE_DIR}/tutorials.md.in ${CMAKE_BINARY_DIR}/tutorials
 gz_create_docs(
   API_MAINPAGE_MD "${CMAKE_BINARY_DIR}/api.md"
   TUTORIALS_MAINPAGE_MD "${CMAKE_BINARY_DIR}/tutorials.md")
+
+#============================================================================
+# Build examples
+#============================================================================
+if (BUILD_TESTING)
+  gz_build_examples(
+    SOURCE_DIR ${PROJECT_SOURCE_DIR}/examples
+    BINARY_DIR ${PROJECT_BINARY_DIR}/examples
+  )
+endif()

examples/color_example.cc

@@ -18,18 +18,17 @@
 #include <iostream>
 #include <gz/math/Color.hh>
 
-int main(int argc, char **argv) 
+int main(int /*argc*/, char **/*argv*/)
 {
 
 //! [Create a color]
-  gz::math::Color a = gz::math::Color(0.3, 0.4, 0.5);
+  gz::math::Color a = gz::math::Color(0.3f, 0.4f, 0.5f);
 //! [Create a color]
   // The channel order is R, G, B, A and the default alpha value of a should be 1.0
   std::cout << "The alpha value of a should be 1: " << a.A() << std::endl;
-
-
+
 //! [Set a new color value]
-  a.gz::math::Color::Set(0.6, 0.7, 0.8, 1.0);
+  a.gz::math::Color::Set(0.6f, 0.7f, 0.8f, 1.0f);
 //! [Set a new color value]
   std::cout << "The RGBA value of a: " << a << std::endl;
 
@@ -41,8 +40,8 @@ int main(int argc, char **argv)
 
 //! [Math operator]
   std::cout << "Check if a is Blue: " << (a == gz::math::Color::Blue) << std::endl;
-  std::cout << "The RGB value of a should be (0, 0, 1): " << a[0] << ", " 
-                                                          << a[1] << ", " 
+  std::cout << "The RGB value of a should be (0, 0, 1): " << a[0] << ", "
+                                                          << a[1] << ", "
                                                           << a[2] << std::endl;
 //! [Math operator]
 

include/gz/math/Helpers.hh

@@ -353,7 +353,7 @@ namespace gz
       T sum = 0;
       for (unsigned int i = 0; i < _values.size(); ++i)
         sum += _values[i];
-      return sum / _values.size();
+      return sum / static_cast<T>(_values.size());
     }
 
     /// \brief Get the variance of a vector of values.
@@ -367,7 +367,7 @@ namespace gz
       T sum = 0;
       for (unsigned int i = 0; i < _values.size(); ++i)
         sum += (_values[i] - avg) * (_values[i] - avg);
-      return sum / _values.size();
+      return sum / static_cast<T>(_values.size());
     }
 
     /// \brief Get the maximum value of vector of values.

include/gz/math/Polynomial3.hh

@@ -229,7 +229,7 @@ namespace gz
           using std::abs;  // enable ADL
           const T magnitude = abs(this->coeffs[i]);
           const bool sign = this->coeffs[i] < T(0);
-          const int exponent = 3 - i;
+          const int exponent = 3 - static_cast<int>(i);
           if (magnitude >= epsilon)
           {
             if (streamStarted)

src/python_pybind11/CMakeLists.txt

@@ -104,8 +104,12 @@ function(configure_build_install_location _library_name)
   # Install into test folder in build space for unit tests to import
   set_target_properties(${_library_name} PROPERTIES
     # Use generator expression to avoid prepending a build type specific directory on Windows
-    LIBRARY_OUTPUT_DIRECTORY $<1:${CMAKE_CURRENT_BINARY_DIR}/test>
-    RUNTIME_OUTPUT_DIRECTORY $<1:${CMAKE_CURRENT_BINARY_DIR}/test>)
+    LIBRARY_OUTPUT_DIRECTORY $<1:${CMAKE_CURRENT_BINARY_DIR}/test/gz>
+    RUNTIME_OUTPUT_DIRECTORY $<1:${CMAKE_CURRENT_BINARY_DIR}/test/gz>)
+
+  # Touch an init file to mark this directory as a usable python module
+  file(MAKE_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/test/gz/)
+  file(TOUCH ${CMAKE_CURRENT_BINARY_DIR}/test/gz/__init__.py)
 
   # Install library for actual use
   install(TARGETS ${_library_name}
@@ -187,8 +191,8 @@ if (BUILD_TESTING)
     endif()
 
     set(_env_vars)
-    list(APPEND _env_vars "PYTHONPATH=${FAKE_INSTALL_PREFIX}/lib/python/")
-    list(APPEND _env_vars "LD_LIBRARY_PATH=${FAKE_INSTALL_PREFIX}/lib:$ENV{LD_LIBRARY_PATH}")
+    list(APPEND _env_vars "PYTHONPATH=${CMAKE_CURRENT_BINARY_DIR}/test")
+    list(APPEND _env_vars "LD_LIBRARY_PATH=${CMAKE_CURRENT_BINARY_DIR}/test:$ENV{LD_LIBRARY_PATH}")
     set_tests_properties(${test}.py PROPERTIES
       ENVIRONMENT "${_env_vars}")
   endforeach()

src/ruby/CMakeLists.txt

@@ -82,10 +82,10 @@ if (RUBY_FOUND)
 
   # Add the ruby tests
   set(_env_vars)
-  list(APPEND _env_vars "LD_LIBRARY_PATH=${FAKE_INSTALL_PREFIX}/lib:$ENV{LD_LIBRARY_PATH}")
+  list(APPEND _env_vars "LD_LIBRARY_PATH=${CMAKE_BINARY_DIR}/lib:$ENV{LD_LIBRARY_PATH}")
   foreach (test ${ruby_tests})
     add_test(NAME ${test}.rb COMMAND
-      ruby -I${FAKE_INSTALL_PREFIX}/lib/ruby/gz ${CMAKE_SOURCE_DIR}/src/ruby/${test}.rb
+      ruby -I${CMAKE_BINARY_DIR}/lib ${CMAKE_SOURCE_DIR}/src/ruby/${test}.rb
          --gtest_output=xml:${CMAKE_BINARY_DIR}/test_results/${test}rb.xml)
     set_tests_properties(${test}.rb PROPERTIES
       ENVIRONMENT "${_env_vars}")

test/CMakeLists.txt

@@ -5,27 +5,6 @@ include_directories (
   ${PROJECT_BINARY_DIR}/include
 )
 
-#============================================================================
-# Do a fake install of gz-math in order to test the examples.
-#============================================================================
-# install to FAKE_INSTALL_PREFIX defined in root CMakeLists.txt
-
-file(MAKE_DIRECTORY ${FAKE_INSTALL_PREFIX})
-
-include(ExternalProject)
-ExternalProject_Add(
-  FAKE_INSTALL
-
-  SOURCE_DIR "${CMAKE_SOURCE_DIR}"
-  EXCLUDE_FROM_ALL 1
-  LOG_CONFIGURE 1
-  LOG_BUILD 1
-  LOG_INSTALL 1
-  CMAKE_ARGS
-    "-DBUILD_TESTING=OFF"
-    "-DCMAKE_INSTALL_PREFIX=${FAKE_INSTALL_PREFIX}"
-)
-
 add_subdirectory(gtest_vendor)
 add_subdirectory(integration)
 add_subdirectory(performance)

test/integration/CMakeLists.txt

@@ -10,12 +10,3 @@ if (UNIX AND NOT APPLE)
 endif()
 
 gz_build_tests(TYPE INTEGRATION SOURCES ${tests})
-
-if(TARGET INTEGRATION_ExamplesBuild_TEST)
-  add_dependencies(INTEGRATION_ExamplesBuild_TEST FAKE_INSTALL)
-
-  set(_env_vars)
-  list(APPEND _env_vars "CMAKE_PREFIX_PATH=${FAKE_INSTALL_PREFIX}:$ENV{CMAKE_PREFIX_PATH}")
-  set_tests_properties(INTEGRATION_ExamplesBuild_TEST PROPERTIES
-    ENVIRONMENT "${_env_vars}")
-endif()