Don't install test header files in rviz_rendering.

rviz_common/CMakeLists.txt

@@ -410,6 +410,7 @@ if(BUILD_TESTING)
     test/interaction/mock_selection_renderer.hpp
     test/interaction/selection_test_fixture.hpp
     test/display_context_fixture.cpp
+    test/ogre_testing_environment.cpp
     ${SKIP_DISPLAY_TESTS})
   if(TARGET selection_manager_test)
     target_link_libraries(selection_manager_test
@@ -423,6 +424,7 @@ if(BUILD_TESTING)
     test/interaction/selection_handler_test.cpp
     test/interaction/selection_test_fixture.hpp
     test/display_context_fixture.cpp
+    test/ogre_testing_environment.cpp
     ${SKIP_DISPLAY_TESTS})
   if(TARGET selection_handler_test)
     target_link_libraries(selection_handler_test

rviz_common/test/display_context_fixture.cpp

@@ -37,7 +37,7 @@
 
 void DisplayContextFixture::SetUpTestCase()
 {
-  testing_environment_ = std::make_shared<rviz_rendering::OgreTestingEnvironment>();
+  testing_environment_ = std::make_shared<rviz_common::OgreTestingEnvironment>();
   testing_environment_->setUpOgreTestEnvironment();
 
   scene_manager_ = Ogre::Root::getSingletonPtr()->createSceneManager();
@@ -66,5 +66,5 @@ void DisplayContextFixture::TearDownTestCase()
 }
 
 Ogre::SceneManager * DisplayContextFixture::scene_manager_ = nullptr;
-std::shared_ptr<rviz_rendering::OgreTestingEnvironment>
+std::shared_ptr<rviz_common::OgreTestingEnvironment>
 DisplayContextFixture::testing_environment_ = nullptr;

rviz_common/test/display_context_fixture.hpp

@@ -43,7 +43,7 @@
 
 #include "rclcpp/clock.hpp"
 
-#include "test/rviz_rendering/ogre_testing_environment.hpp"
+#include "ogre_testing_environment.hpp"
 
 #include "mock_display_context.hpp"
 #include "mock_window_manager_interface.hpp"
@@ -59,7 +59,7 @@ class DisplayContextFixture : public testing::Test
 
   static void TearDownTestCase();
 
-  static std::shared_ptr<rviz_rendering::OgreTestingEnvironment> testing_environment_;
+  static std::shared_ptr<rviz_common::OgreTestingEnvironment> testing_environment_;
   static Ogre::SceneManager * scene_manager_;
 
   std::shared_ptr<MockDisplayContext> context_;

rviz_common/test/ogre_testing_environment.cpp

@@ -0,0 +1,56 @@
+/*
+ * Copyright (c) 2017, Bosch Software Innovations GmbH.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the Willow Garage, Inc. nor the names of its
+ *       contributors may be used to endorse or promote products derived from
+ *       this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#include "ogre_testing_environment.hpp"
+
+#include <string>
+
+#include <OgreLogManager.h>
+
+#include "rviz_rendering/render_system.hpp"
+
+namespace rviz_common
+{
+
+void OgreTestingEnvironment::setUpOgreTestEnvironment(bool debug)
+{
+  if (!debug) {
+    const std::string & name = "";
+    auto lm = new Ogre::LogManager();
+    lm->createLog(name, false, debug, true);
+  }
+  setUpRenderSystem();
+}
+
+void OgreTestingEnvironment::setUpRenderSystem()
+{
+  rviz_rendering::RenderSystem::get();
+}
+
+}  // end namespace rviz_common

rviz_common/test/ogre_testing_environment.hpp

@@ -0,0 +1,51 @@
+/*
+ * Copyright (c) 2017, Bosch Software Innovations GmbH.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the Willow Garage, Inc. nor the names of its
+ *       contributors may be used to endorse or promote products derived from
+ *       this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef OGRE_TESTING_ENVIRONMENT_HPP_
+#define OGRE_TESTING_ENVIRONMENT_HPP_
+
+namespace rviz_common
+{
+class OgreTestingEnvironment
+{
+public:
+  /**
+   * Set up a testing environment to run tests needing Ogre.
+   *
+   * @param: bool debug, if true, all logging of Ogre is send to std::out, if false no logging
+   * occurs. Since the logging pollutes the test output, it defaults to false
+   */
+  void setUpOgreTestEnvironment(bool debug = false);
+
+  void setUpRenderSystem();
+};
+
+}  // namespace rviz_common
+
+#endif  // OGRE_TESTING_ENVIRONMENT_HPP_

rviz_default_plugins/CMakeLists.txt

@@ -337,6 +337,8 @@ if(BUILD_TESTING)
   ament_find_gmock()
   add_library(display_test_fixture
     test/rviz_default_plugins/displays/display_test_fixture.cpp
+    test/rviz_default_plugins/ogre_testing_environment.cpp
+    test/rviz_default_plugins/scene_graph_introspection.cpp
   )
   target_include_directories(display_test_fixture PRIVATE ${GMOCK_INCLUDE_DIRS} ${TEST_INCLUDE_DIRS})
   target_link_libraries(display_test_fixture ${GMOCK_LIBRARIES})
@@ -351,7 +353,6 @@ if(BUILD_TESTING)
   ament_add_gmock(fps_view_controller_test
     test/rviz_default_plugins/view_controllers/fps/fps_view_controller_test.cpp
     test/rviz_default_plugins/view_controllers/view_controller_test_fixture.hpp
-    test/rviz_default_plugins/scene_graph_introspection_helper.cpp
     ${SKIP_DISPLAY_TESTS})
   if(TARGET fps_view_controller_test)
     target_include_directories(fps_view_controller_test PUBLIC ${TEST_INCLUDE_DIRS})
@@ -361,7 +362,6 @@ if(BUILD_TESTING)
 
   ament_add_gmock(frame_info_test
     test/rviz_default_plugins/displays/tf/frame_info_test.cpp
-    test/rviz_default_plugins/scene_graph_introspection_helper.cpp
     ${SKIP_DISPLAY_TESTS})
   if(TARGET frame_info_test)
     target_include_directories(frame_info_test PUBLIC ${TEST_INCLUDE_DIRS})
@@ -397,7 +397,6 @@ if(BUILD_TESTING)
     test/rviz_default_plugins/displays/marker/markers/triangle_list_marker_test.cpp
     test/rviz_default_plugins/displays/marker/markers/markers_test_fixture.cpp
     test/rviz_default_plugins/displays/marker/marker_messages.cpp
-    test/rviz_default_plugins/scene_graph_introspection_helper.cpp
     ${SKIP_DISPLAY_TESTS})
   if(TARGET marker_test)
     target_include_directories(marker_test PUBLIC ${TEST_INCLUDE_DIRS})
@@ -408,7 +407,6 @@ if(BUILD_TESTING)
   ament_add_gmock(marker_common_test
     test/rviz_default_plugins/displays/marker/marker_common_test.cpp
     test/rviz_default_plugins/displays/marker/marker_messages.cpp
-    test/rviz_default_plugins/scene_graph_introspection_helper.cpp
     ${SKIP_DISPLAY_TESTS})
   if(TARGET marker_common_test)
     target_include_directories(marker_common_test PUBLIC ${TEST_INCLUDE_DIRS})
@@ -418,7 +416,6 @@ if(BUILD_TESTING)
 
   ament_add_gmock(map_display_test
     test/rviz_default_plugins/displays/map/map_display_test.cpp
-    test/rviz_default_plugins/scene_graph_introspection_helper.cpp
     ${SKIP_DISPLAY_TESTS})
   if(TARGET map_display_test)
     target_include_directories(map_display_test PUBLIC ${TEST_INCLUDE_DIRS})
@@ -428,7 +425,6 @@ if(BUILD_TESTING)
 
   ament_add_gmock(measure_tool_test
     test/rviz_default_plugins/tools/measure/measure_tool_test.cpp
-    test/rviz_default_plugins/scene_graph_introspection_helper.cpp
     ${SKIP_DISPLAY_TESTS})
   if(TARGET measure_tool_test)
     target_include_directories(measure_tool_test PUBLIC ${TEST_INCLUDE_DIRS})
@@ -438,7 +434,6 @@ if(BUILD_TESTING)
 
   ament_add_gmock(odometry_display_test
     test/rviz_default_plugins/displays/odometry/odometry_display_test.cpp
-    test/rviz_default_plugins/scene_graph_introspection_helper.cpp
     ${SKIP_DISPLAY_TESTS})
   if(TARGET odometry_display_test)
     target_include_directories(odometry_display_test PUBLIC ${TEST_INCLUDE_DIRS})
@@ -458,7 +453,6 @@ if(BUILD_TESTING)
   ament_add_gmock(orbit_view_controller_test
     test/rviz_default_plugins/view_controllers/orbit/orbit_view_controller_test.cpp
     test/rviz_default_plugins/view_controllers/view_controller_test_fixture.hpp
-    test/rviz_default_plugins/scene_graph_introspection_helper.cpp
     ${SKIP_DISPLAY_TESTS})
   if(TARGET orbit_view_controller_test)
     target_include_directories(orbit_view_controller_test PUBLIC ${TEST_INCLUDE_DIRS})
@@ -469,7 +463,6 @@ if(BUILD_TESTING)
   ament_add_gmock(ortho_view_controller_test
     test/rviz_default_plugins/view_controllers/ortho/ortho_view_controller_test.cpp
     test/rviz_default_plugins/view_controllers/view_controller_test_fixture.hpp
-    test/rviz_default_plugins/scene_graph_introspection_helper.cpp
     ${SKIP_DISPLAY_TESTS})
   if(TARGET ortho_view_controller_test)
     target_include_directories(ortho_view_controller_test PUBLIC ${TEST_INCLUDE_DIRS})
@@ -488,7 +481,6 @@ if(BUILD_TESTING)
 
   ament_add_gmock(path_display_test
     test/rviz_default_plugins/displays/path/path_display_test.cpp
-    test/rviz_default_plugins/scene_graph_introspection_helper.cpp
     ${SKIP_DISPLAY_TESTS})
   if(TARGET path_display_test)
     target_include_directories(path_display_test PUBLIC ${TEST_INCLUDE_DIRS})
@@ -511,7 +503,6 @@ if(BUILD_TESTING)
     test/rviz_default_plugins/pointcloud_messages.hpp
     test/rviz_default_plugins/pointcloud_messages.cpp
     test/rviz_default_plugins/displays/pointcloud/point_cloud_common_test.cpp
-    test/rviz_default_plugins/scene_graph_introspection_helper.cpp
     ${SKIP_DISPLAY_TESTS})
   if(TARGET point_cloud_common_test)
     target_include_directories(point_cloud_common_test PUBLIC ${TEST_INCLUDE_DIRS})
@@ -546,7 +537,6 @@ if(BUILD_TESTING)
 
   ament_add_gmock(point_display_test
     test/rviz_default_plugins/displays/point/point_stamped_display_test.cpp
-    test/rviz_default_plugins/scene_graph_introspection_helper.cpp
     ${SKIP_DISPLAY_TESTS})
   if(TARGET point_display_test)
     target_include_directories(point_display_test PUBLIC ${TEST_INCLUDE_DIRS})
@@ -556,7 +546,6 @@ if(BUILD_TESTING)
 
   ament_add_gmock(pose_array_display_test
     test/rviz_default_plugins/displays/pose_array/pose_array_display_test.cpp
-    test/rviz_default_plugins/scene_graph_introspection_helper.cpp
     ${SKIP_DISPLAY_TESTS})
   if(TARGET pose_array_display_test)
     target_include_directories(pose_array_display_test PUBLIC ${TEST_INCLUDE_DIRS})
@@ -566,7 +555,6 @@ if(BUILD_TESTING)
 
   ament_add_gmock(pose_tool_test
     test/rviz_default_plugins/tools/pose/pose_tool_test.cpp
-    test/rviz_default_plugins/scene_graph_introspection_helper.cpp
     ${SKIP_DISPLAY_TESTS})
   if(TARGET pose_tool_test)
     target_include_directories(pose_tool_test PUBLIC ${TEST_INCLUDE_DIRS})
@@ -576,7 +564,6 @@ if(BUILD_TESTING)
 
   ament_add_gmock(range_display_test
     test/rviz_default_plugins/displays/range/range_display_test.cpp
-    test/rviz_default_plugins/scene_graph_introspection_helper.cpp
     ${SKIP_DISPLAY_TESTS})
   if(TARGET range_display_test)
     target_include_directories(range_display_test PUBLIC ${TEST_INCLUDE_DIRS})
@@ -616,7 +603,6 @@ if(BUILD_TESTING)
   ament_add_gmock(xy_orbit_view_controller_test
     test/rviz_default_plugins/view_controllers/xy_orbit/xy_orbit_view_controller_test.cpp
     test/rviz_default_plugins/view_controllers/view_controller_test_fixture.hpp
-    test/rviz_default_plugins/scene_graph_introspection_helper.cpp
     ${SKIP_DISPLAY_TESTS})
   if(TARGET xy_orbit_view_controller_test)
     target_include_directories(xy_orbit_view_controller_test PUBLIC ${TEST_INCLUDE_DIRS})

rviz_default_plugins/test/rviz_default_plugins/displays/display_test_fixture.cpp

@@ -37,7 +37,7 @@
 
 void DisplayTestFixture::SetUpTestCase()
 {
-  testing_environment_ = std::make_shared<rviz_rendering::OgreTestingEnvironment>();
+  testing_environment_ = std::make_shared<rviz_default_plugins::OgreTestingEnvironment>();
   testing_environment_->setUpOgreTestEnvironment();
 
   scene_manager_ = Ogre::Root::getSingletonPtr()->createSceneManager();
@@ -106,5 +106,5 @@ void DisplayTestFixture::mockValidTransform(Ogre::Vector3 position, Ogre::Quater
 }
 
 Ogre::SceneManager * DisplayTestFixture::scene_manager_ = nullptr;
-std::shared_ptr<rviz_rendering::OgreTestingEnvironment>
+std::shared_ptr<rviz_default_plugins::OgreTestingEnvironment>
 DisplayTestFixture::testing_environment_ = nullptr;

rviz_default_plugins/test/rviz_default_plugins/displays/display_test_fixture.hpp

@@ -43,7 +43,7 @@
 
 #include "rclcpp/clock.hpp"
 
-#include "test/rviz_rendering/ogre_testing_environment.hpp"
+#include "../ogre_testing_environment.hpp"
 
 #include "../mock_display_context.hpp"
 #include "../mock_frame_manager.hpp"
@@ -65,7 +65,7 @@ class DisplayTestFixture : public testing::Test
 
   void mockValidTransform(Ogre::Vector3 position, Ogre::Quaternion orientation);
 
-  static std::shared_ptr<rviz_rendering::OgreTestingEnvironment> testing_environment_;
+  static std::shared_ptr<rviz_default_plugins::OgreTestingEnvironment> testing_environment_;
   static Ogre::SceneManager * scene_manager_;
 
   std::shared_ptr<MockDisplayContext> context_;

rviz_default_plugins/test/rviz_default_plugins/displays/grid_cells/grid_cells_display_test.cpp

@@ -40,9 +40,8 @@
 
 #include "rviz_default_plugins/displays/grid_cells/grid_cells_display.hpp"
 
-#include "test/rviz_rendering/scene_graph_introspection.hpp"
+#include "../../scene_graph_introspection.hpp"
 #include "../display_test_fixture.hpp"
-#include "../../scene_graph_introspection_helper.hpp"
 
 using namespace ::testing;  // NOLINT
 
@@ -97,7 +96,7 @@ TEST_F(GridCellsDisplayFixture, processMessage_with_invalid_transform_returns_ea
   auto msg = createGridCellsMessageWithTwoCells();
   display_->processMessage(msg);
 
-  auto point_clouds = rviz_rendering::findAllPointClouds(scene_manager_->getRootSceneNode());
+  auto point_clouds = rviz_default_plugins::findAllPointClouds(scene_manager_->getRootSceneNode());
   EXPECT_THAT(point_clouds.size(), Eq(1u));
   EXPECT_THAT(point_clouds[0]->getPoints().size(), Eq(0u));
 }
@@ -108,7 +107,7 @@ TEST_F(GridCellsDisplayFixture, processMessage_with_zero_size_does_not_add_messa
   auto msg = createGridCellsMessageWithTwoCells(0, 1);
   display_->processMessage(msg);
 
-  auto point_clouds = rviz_rendering::findAllPointClouds(scene_manager_->getRootSceneNode());
+  auto point_clouds = rviz_default_plugins::findAllPointClouds(scene_manager_->getRootSceneNode());
   EXPECT_THAT(point_clouds.size(), Eq(1u));
   EXPECT_THAT(point_clouds[0]->getPoints().size(), Eq(0u));
 }
@@ -118,7 +117,7 @@ TEST_F(GridCellsDisplayFixture, processMessage_fills_pointcloud_with_correct_gri
   auto msg = createGridCellsMessageWithTwoCells();
   display_->processMessage(msg);
 
-  auto point_clouds = rviz_rendering::findAllPointClouds(scene_manager_->getRootSceneNode());
+  auto point_clouds = rviz_default_plugins::findAllPointClouds(scene_manager_->getRootSceneNode());
   EXPECT_THAT(point_clouds.size(), Eq(1u));
   EXPECT_THAT(point_clouds[0]->getPoints().size(), Eq(2u));
   EXPECT_THAT(
@@ -137,7 +136,7 @@ TEST_F(GridCellsDisplayFixture, processMessage_clears_cloud_on_new_message) {
   auto broken_msg = createGridCellsMessageWithTwoCells(0, 1);
   display_->processMessage(broken_msg);
 
-  auto point_clouds = rviz_rendering::findAllPointClouds(scene_manager_->getRootSceneNode());
+  auto point_clouds = rviz_default_plugins::findAllPointClouds(scene_manager_->getRootSceneNode());
   EXPECT_THAT(point_clouds.size(), Eq(1u));
   EXPECT_THAT(point_clouds[0]->getPoints().size(), Eq(0u));
 }