Addes devices tests

robotology · Dec 30, 2024 · e25d058 · e25d058
1 parent 5bc85fc
commit e25d058
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diff --git a/.github/workflows/conda-ci.yml b/.github/workflows/conda-ci.yml
@@ -0,0 +1,294 @@
+name: CI Workflow
+
+on:
+  push:
+  pull_request:
+  workflow_dispatch:
+  schedule:
+  # * is a special character in YAML so you have to quote this string
+  # Execute a "nightly" build at 2 AM UTC
+  - cron:  '0 2 * * *'
+
+jobs:
+
+  check-style:
+    name: 'Check Style'
+    runs-on: ubuntu-20.04
+    steps:
+    - name: Clone repository
+      uses: actions/checkout@v3
+    - name: Install Dependencies
+      run: |
+        sudo apt-get update -qq
+        sudo apt-get install -qq -y perl
+    - name: Check Style
+      run: |
+        perl tests/misc/check_style.pl
+
+  check-license:
+    name: 'Check License'
+    runs-on: ubuntu-20.04
+    steps:
+    - name: Clone repository
+      uses: actions/checkout@v3
+    - name: Install Dependencies
+      run: |
+        sudo apt-get update -qq
+        sudo apt-get install -qq -y perl
+    - name: Check License
+      run: |
+        perl tests/misc/check_license.pl
+        
+  check-tests:
+    name: 'Check Devices Tests'
+    runs-on: ubuntu-20.04
+    steps:
+    - name: Clone repository
+      uses: actions/checkout@v3
+    - name: Install Dependencies
+      run: |
+        sudo apt-get update -qq
+        sudo apt-get install -qq -y python3
+    - name: Check Devices Tests
+      run: |
+        python3 tests/misc/check_tests.py
+        
+  build:
+    name: '[${{ matrix.os }}@${{ matrix.build_type }}@conda]'
+    runs-on: ${{ matrix.os }}
+    strategy:
+      matrix:
+        build_type: [Release]
+        os: [ubuntu-latest, macos-latest, windows-2019]
+      fail-fast: true
+
+    steps:
+    - uses: actions/checkout@v3
+
+    - uses: conda-incubator/setup-miniconda@v2
+      with:
+        miniforge-variant: Mambaforge
+        miniforge-version: latest
+
+    - name: Dependencies
+      shell: bash -l {0}
+      run: |
+        # Compilation related dependencies
+        mamba install cmake compilers make ninja pkg-config
+        # Actual dependencies
+        mamba install -c conda-forge -c robostack-staging ycm-cmake-modules eigen ace sqlite nlohmann_json
+
+
+    - name: Download YARP [Linux&macOS]
+      if: contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu')
+      run: |
+        cd ${GITHUB_WORKSPACE}
+        git clone https://github.com/robotology/yarp
+
+    - name: Dependencies from source [Linux&macOS]
+      if: contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu')
+      shell: bash -l {0}
+      run: |
+        cd ${GITHUB_WORKSPACE}
+        cd yarp
+        mkdir build
+        cd build
+        cmake -GNinja -DCMAKE_INSTALL_PREFIX=${CONDA_PREFIX} \
+                      -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} .. \
+                      -DYARP_COMPILE_TESTS:BOOL=ON \
+                      -DYARP_COMPILE_ALL_FAKE_DEVICES:BOOL=ON
+        cmake --build . --config ${{ matrix.build_type }}
+        cmake --install . --config ${{ matrix.build_type }}
+        echo "YARP_DATA_DIRS=${CONDA_PREFIX}/share/yarp::${YARP_DATA_DIRS}" >> $GITHUB_ENV
+        # curl
+        cd ${GITHUB_WORKSPACE}
+        git clone https://github.com/curl/curl.git
+        cd curl
+        mkdir -p build
+        cd build
+        cmake -GNinja -DCMAKE_INSTALL_PREFIX=${CONDA_PREFIX} \
+                      -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} ..
+        cmake --build . --config ${{ matrix.build_type }}
+        cmake --install . --config ${{ matrix.build_type }}
+
+    - name: Dependencies from source [Windows]
+      if: contains(matrix.os, 'windows')
+      shell: bash -l {0}
+      run: |
+        cd ${GITHUB_WORKSPACE}
+        git clone https://github.com/robotology/yarp
+        cd yarp
+        mkdir build
+        cd build
+        cmake -G"Visual Studio 16 2019" -DCMAKE_INSTALL_PREFIX=${CONDA_PREFIX}/Library \
+                                        -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} .. \
+                                        -DYARP_COMPILE_TESTS:BOOL=ON \
+                                        -DYARP_COMPILE_ALL_FAKE_DEVICES:BOOL=ON
+        cmake --build . --config ${{ matrix.build_type }}
+        cmake --install . --config ${{ matrix.build_type }}
+        echo "YARP_DATA_DIRS=${CONDA_PREFIX}/Library/share/yarp;${YARP_DATA_DIRS}" >> $GITHUB_ENV
+        cd ${GITHUB_WORKSPACE}
+        git clone https://github.com/curl/curl.git
+        cd curl
+        mkdir -p build
+        cd build
+        cmake -G"Visual Studio 16 2019" -DCMAKE_INSTALL_PREFIX=${CONDA_PREFIX} \
+                                        -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} ..
+        cmake --build . --config ${{ matrix.build_type }}
+        cmake --install . --config ${{ matrix.build_type }}
+
+    - name: Configure [Linux&macOS]
+      if: contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu')
+      shell: bash -l {0}
+      run: |
+        mkdir -p build
+        cd build
+        cmake -GNinja -DBUILD_TESTING:BOOL=ON \
+                      -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \
+                      -DCMAKE_INSTALL_PREFIX=${CONDA_PREFIX} .. \
+                      -DYARP_COMPILE_TESTS:BOOL=ON
+
+    - name: Configure [Windows]
+      if: contains(matrix.os, 'windows')
+      shell: bash -l {0}
+      run: |
+        mkdir -p build
+        cd build
+        cmake -G"Visual Studio 16 2019" -DBUILD_TESTING:BOOL=ON \
+                                        -DCMAKE_PREFIX_PATH=${CONDA_PREFIX}/Library \
+                                        -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \
+                                        -DCMAKE_INSTALL_PREFIX=${CONDA_PREFIX}/Library .. \
+                                        -DYARP_COMPILE_TESTS:BOOL=ON
+    - name: Build [Linux&macOS]
+      if: contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu')
+      shell: bash -l {0}
+      run: |
+        cd build
+        cmake --build . --config ${{ matrix.build_type }}
+
+    - name: Install [Linux&macOS]
+      if: contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu')
+      shell: bash -l {0}
+      run: |
+        cd build
+        cmake --install . --config ${{ matrix.build_type }}
+
+    - name: Test [Linux&macOS]
+      if: contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu')
+      shell: bash -l {0}
+      run: |
+        cd build
+        ctest --output-on-failure -C ${{ matrix.build_type }}
+
+    - name: Build [Windows]
+      if: contains(matrix.os, 'windows')
+      shell: bash -l {0}
+      run: |
+        cd build
+        cmake --build . --config ${{ matrix.build_type }}
+
+    - name: Install [Windows]
+      if: contains(matrix.os, 'windows')
+      shell: bash -l {0}
+      run: |
+        cd build
+        cmake --install . --config ${{ matrix.build_type }}
+
+    - name: Test [Windows]
+      if: contains(matrix.os, 'windows')
+      shell: bash -l {0}
+      run: |
+        cd build
+        ctest --output-on-failure -C ${{ matrix.build_type }}
+
+  build-valgrind:
+    name: 'valgrind [ubuntu-latest@Debug@humble@conda]'
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        build_type: [Debug]
+        os: [ubuntu-latest]
+      fail-fast: false
+
+    steps:
+    - uses: actions/checkout@v3
+
+    - uses: conda-incubator/setup-miniconda@v2
+      with:
+        miniforge-variant: Mambaforge
+        miniforge-version: latest
+
+    - name: Dependencies
+      shell: bash -l {0}
+      run: |
+        # Compilation related dependencies
+        mamba install cmake compilers make ninja pkg-config
+        # Actual dependencies
+        sudo apt update && sudo apt-get install -qq -y libc6-dbg
+        mamba install -c conda-forge -c robostack-staging ycm-cmake-modules valgrind ace sqlite
+
+    - name: Download YARP [Linux&macOS]
+      if: contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu')
+      run: |
+        cd ${GITHUB_WORKSPACE}
+        git clone https://github.com/robotology/yarp
+
+    - name: Dependencies from source [Linux&macOS]
+      if: contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu')
+      shell: bash -l {0}
+      run: |
+        cd ${GITHUB_WORKSPACE}
+        cd yarp
+        mkdir build
+        cd build
+        cmake -GNinja -DCMAKE_INSTALL_PREFIX=${CONDA_PREFIX} \
+                      -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} .. \
+                      -DYARP_COMPILE_TESTS:BOOL=ON \
+                      -DYARP_COMPILE_ALL_FAKE_DEVICES:BOOL=ON \
+                      -DYARP_VALGRIND_TESTS:BOOL=ON
+        cmake --build . --config ${{ matrix.build_type }}
+        cmake --install . --config ${{ matrix.build_type }}
+        echo "YARP_DATA_DIRS=${CONDA_PREFIX}/share/yarp::${YARP_DATA_DIRS}" >> $GITHUB_ENV
+        # curl
+        cd ${GITHUB_WORKSPACE}
+        git clone https://github.com/curl/curl.git
+        cd curl
+        mkdir -p build
+        cd build
+        cmake -GNinja -DCMAKE_INSTALL_PREFIX=${CONDA_PREFIX} \
+                      -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} ..
+        cmake --build . --config ${{ matrix.build_type }}
+        cmake --install . --config ${{ matrix.build_type }}
+
+    - name: Configure [Linux&macOS]
+      if: contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu')
+      shell: bash -l {0}
+      run: |
+        mkdir -p build
+        cd build
+        cmake -GNinja -DBUILD_TESTING:BOOL=ON \
+                      -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \
+                      -DYARP_VALGRIND_TESTS:BOOL=ON \
+                      -DCMAKE_INSTALL_PREFIX=${CONDA_PREFIX} .. \
+                      -DYARP_COMPILE_TESTS:BOOL=ON
+
+    - name: Build [Linux&macOS]
+      if: contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu')
+      shell: bash -l {0}
+      run: |
+        cd build
+        cmake --build . --config ${{ matrix.build_type }}
+
+    - name: Install [Linux&macOS]
+      if: contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu')
+      shell: bash -l {0}
+      run: |
+        cd build
+        cmake --install . --config ${{ matrix.build_type }}
+
+    - name: Test [Linux&macOS]
+      if: contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu')
+      shell: bash -l {0}
+      run: |
+        cd build
+        ctest --output-on-failure -C ${{ matrix.build_type }}
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -1,8 +1,5 @@
-# Copyright (C) 2006-2020 Istituto Italiano di Tecnologia (IIT)
-# All rights reserved.
-#
-# This software may be modified and distributed under the terms of the
-# BSD-3-Clause license. See the accompanying LICENSE file for details.
+# SPDX-FileCopyrightText: 2024 Istituto Italiano di Tecnologia (IIT)
+# SPDX-License-Identifier: BSD-3-Clause
 
 cmake_minimum_required(VERSION 3.17)
 project(yarp-device-rpLidar
@@ -31,7 +28,23 @@ set(CMAKE_CXX_EXTENSIONS OFF)
 list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
 
 set(YARP_FORCE_DYNAMIC_PLUGINS TRUE CACHE INTERNAL "yarp-device-rpLidar is always built with dynamic plugins")
-set(BUILD_SHARED_LIBS OFF CACHE INTERNAL "Build libraries as shared as opposed to static")
+set(BUILD_SHARED_LIBS "Build libraries as shared as opposed to static" ON)
+
+find_package(YARP 3.10.0 COMPONENTS os sig dev OPTIONAL_COMPONENTS math REQUIRED)
+find_package(YARP 3.10.0 COMPONENTS catch2 dev_tests QUIET)
+
+if(YARP_catch2_FOUND AND YARP_dev_tests_FOUND)
+  option(YARP_COMPILE_TESTS "Enable YARP tests" OFF)
+  if(YARP_COMPILE_TESTS)
+    enable_testing()
+  endif()
+  message (STATUS "yarp_catch2 and yarp_dev_tests libraries found")
+else()
+  SET(YARP_COMPILE_TESTS OFF CACHE BOOL "yarp_catch2 and yarp_dev_tests libraries NOT found. Tests cannot be enabled" FORCE)
+  message (STATUS "yarp_catch2 and yarp_dev_tests libraries NOT found. Tests cannot be enabled")
+endif()
+
+include(YarpValgrindOptions)
 
 include(AddInstallRPATHSupport)
 add_install_rpath_support(BIN_DIRS "${CMAKE_INSTALL_FULL_BINDIR}"
@@ -50,13 +63,14 @@ set_property(GLOBAL PROPERTY USE_FOLDERS 1)
 
 include(AddUninstallTarget)
 
-find_package(YARP 3.10.0 COMPONENTS os sig dev OPTIONAL_COMPONENTS math REQUIRED)
 set(CMAKE_C_FLAGS "${YARP_C_FLAGS} ${CMAKE_C_FLAGS}")
 set(CMAKE_CXX_FLAGS "${YARP_CXX_FLAGS} ${CMAKE_CXX_FLAGS}")
 
 yarp_configure_plugins_installation(yarp-device-rpLidar)
+find_package(Doxygen)
 
 feature_summary(WHAT ALL INCLUDE_QUIET_PACKAGES)
 
 add_subdirectory(extern)
 add_subdirectory(src)
+add_subdirectory(tests)