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CMakeLists.txt
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CMakeLists.txt
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##############################################################################
# Tests
##############################################################################
##############################################################################
# Find Packages
##############################################################################
find_package(ament_cmake_gtest REQUIRED)
##############################################################################
# Macros
##############################################################################
macro(maliput_malidrive_plugin_tests)
# Build all the tests
foreach(GTEST_SOURCE_file ${ARGN})
string(REGEX REPLACE ".cc" "" BINARY_NAME ${GTEST_SOURCE_file})
set(BINARY_NAME ${TEST_TYPE}_${BINARY_NAME})
set(RESOURCE_FILE_PREFIX ${PROJECT_SOURCE_DIR}/resources/)
set(ROAD_NETWORK_PLUGIN ${CMAKE_INSTALL_PREFIX}/lib/plugins/)
ament_add_gtest(${BINARY_NAME} ${GTEST_SOURCE_file} APPEND_LIBRARY_DIRS ${MALIPUT_MALIDRIVE_PLUGIN_LIBRARY_DIRS}
TIMEOUT 240)
target_include_directories(${BINARY_NAME}
PRIVATE
${PROJECT_SOURCE_DIR}/src
${PROJECT_SOURCE_DIR}/include
${PYTHON_INCLUDE_DIRS}
)
# Kind of an ugly catch-all bucket
target_link_libraries(${BINARY_NAME}
maliput::common
maliput::plugin
maliput_malidrive::base
utility
)
# To avoid a false positive when running ubsan the symbols must be exported
# See https://stackoverflow.com/questions/57361776/use-ubsan-with-dynamically-loaded-shared-libraries
set_target_properties(${BINARY_NAME}
PROPERTIES
ENABLE_EXPORTS ON
)
# Remove a warning in GTest.
target_compile_options(${BINARY_NAME} PRIVATE "-Wno-sign-compare")
target_compile_definitions(${BINARY_NAME}
PRIVATE
DEF_MALIDRIVE_RESOURCES="${RESOURCE_FILE_PREFIX}"
DEF_ROAD_NETWORK_PLUGIN="${ROAD_NETWORK_PLUGIN}"
)
endforeach()
endmacro()
macro(maliput_malidrive_build_tests)
# Build all the tests
foreach(GTEST_SOURCE_file ${ARGN})
string(REGEX REPLACE ".cc" "" BINARY_NAME ${GTEST_SOURCE_file})
set(BINARY_NAME ${TEST_TYPE}_${BINARY_NAME})
set(RESOURCE_FILE_PREFIX ${PROJECT_SOURCE_DIR}/resources/)
ament_add_gtest(${BINARY_NAME} ${GTEST_SOURCE_file} TIMEOUT 240)
target_include_directories(${BINARY_NAME}
PRIVATE
${PROJECT_SOURCE_DIR}/src
${PROJECT_SOURCE_DIR}/include
${PYTHON_INCLUDE_DIRS}
)
# Kind of an ugly catch-all bucket
target_link_libraries(${BINARY_NAME}
maliput::api
maliput::base
maliput::common
maliput::geometry_base
maliput::math
maliput::test_utilities
maliput_malidrive::base
maliput_malidrive::builder
maliput_malidrive::common
maliput_malidrive::road_curve
maliput_malidrive::test_utilities
maliput_malidrive::xodr
maliput_malidrive::xodr_extract
pthread
utility
)
# Remove a warning in GTest.
target_compile_options(${BINARY_NAME} PRIVATE "-Wno-sign-compare")
target_compile_definitions(${BINARY_NAME}
PRIVATE
DEF_MALIDRIVE_RESOURCES="${RESOURCE_FILE_PREFIX}"
)
endforeach()
endmacro()
macro(maliput_malidrive_utility_tests)
# Build all the tests
foreach(GTEST_SOURCE_file ${ARGN})
string(REGEX REPLACE ".cc" "" BINARY_NAME ${GTEST_SOURCE_file})
set(BINARY_NAME ${TEST_TYPE}_${BINARY_NAME})
ament_add_gtest(${BINARY_NAME} ${GTEST_SOURCE_file} APPEND_LIBRARY_DIRS ${MALIPUT_MALIDRIVE_PLUGIN_LIBRARY_DIRS}
TIMEOUT 240)
target_include_directories(${BINARY_NAME}
PRIVATE
${PROJECT_SOURCE_DIR}/src
${PROJECT_SOURCE_DIR}/include
${PYTHON_INCLUDE_DIRS}
)
# Kind of an ugly catch-all bucket
target_link_libraries(${BINARY_NAME}
utility
)
# To avoid a false positive when running ubsan the symbols must be exported
# See https://stackoverflow.com/questions/57361776/use-ubsan-with-dynamically-loaded-shared-libraries
set_target_properties(${BINARY_NAME}
PROPERTIES
ENABLE_EXPORTS ON
)
# Remove a warning in GTest.
target_compile_options(${BINARY_NAME} PRIVATE "-Wno-sign-compare")
target_compile_definitions(${BINARY_NAME}
PRIVATE
DEF_PROJECT_SOURCE_DIR="${PROJECT_SOURCE_DIR}"
)
endforeach()
endmacro()
# This macro generates a test target per each map on the list.
# Map file will be set using a CLI argument and it's the test responsibility
# to parse it.
macro(malidrive_build_integration_based_tests)
set(XODR_FILE_PREFIX ${PROJECT_SOURCE_DIR}/resources/)
set(XODR_FILE_PATHS
ArcLane.xodr
Highway.xodr
LShapeRoad.xodr
LShapeRoadVariableLanes.xodr
LineMultipleSections.xodr
LineVariableWidth.xodr
LineVariableOffset.xodr
ParkingGarageRamp.xodr
RRFigure8.xodr
RRLongRoad.xodr
SingleLane.xodr
SingleRoadComplexDescription.xodr
SingleRoadComplexDescription2.xodr
SingleRoadHighCoefficients.xodr
SingleRoadNanValues.xodr
SingleRoadNegativeWidth.xodr
SingleRoadTinyGeometry.xodr
SingleRoadTwoGeometries.xodr
SShapeRoad.xodr
SShapeSuperelevatedRoad.xodr
StraightForward.xodr
TShapeRoad.xodr
Figure8.xodr
Town01.xodr
Town02.xodr
Town03.xodr
Town04.xodr
Town05.xodr
Town06.xodr
Town07.xodr
)
# Build all the tests
foreach(GTEST_SOURCE_file ${ARGN})
# When integration tests are disabled, we just skip adding them.
if(NOT MALIPUT_MALIDRIVE_INTEGRATION_TESTS)
if(${TEST_TYPE} MATCHES "INTEGRATION")
message(STATUS "Integration tests are disarmed, skipping: " ${GTEST_SOURCE_file})
continue()
endif()
endif()
foreach(XODR_MAP_file ${XODR_FILE_PATHS})
string(REGEX REPLACE ".cc" "" BINARY_NAME ${GTEST_SOURCE_file})
set(BINARY_NAME ${TEST_TYPE}_${BINARY_NAME}_${XODR_MAP_file})
ament_add_gtest(${BINARY_NAME} ${GTEST_SOURCE_file})
target_include_directories(${BINARY_NAME}
PRIVATE
${PROJECT_SOURCE_DIR}/src
${PROJECT_SOURCE_DIR}/include
${PYTHON_INCLUDE_DIRS}
)
# Kind of an ugly catch-all bucket
target_link_libraries(${BINARY_NAME}
maliput::api
maliput::common
maliput::test_utilities
maliput::utility
maliput_malidrive::builder
maliput_malidrive::loader
maliput_malidrive::test_utilities
utility
)
# Remove a warning in GTest.
target_compile_options(${BINARY_NAME} PRIVATE "-Wno-sign-compare")
target_compile_definitions(${BINARY_NAME}
PRIVATE
XODR_FILE="${XODR_FILE_PREFIX}${XODR_MAP_file}"
)
# Extensive tests require more time when sanitizers are run due to extra
# debug code introduced.
set(TEST_TIMEOUT 300)
if (SANITIZERS)
set(TEST_TIMEOUT 340)
endif()
set_tests_properties(${BINARY_NAME} PROPERTIES TIMEOUT ${TEST_TIMEOUT})
unset(TEST_TIMEOUT)
endforeach()
endforeach()
endmacro()
##############################################################################
# Testing
##############################################################################
add_subdirectory(integration)
add_subdirectory(regression)