Install the common test executables to libexec (#458)

* Add cmake variable to make code more readable. * Make TestLibLoader header-only Signed-off-by: Steve Peters <[email protected]>
gazebosim · Dec 12, 2022 · 095b064 · 095b064
1 parent bf4cc20
commit 095b064
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Showing 16 changed files with 49 additions and 106 deletions.
diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
@@ -23,7 +23,6 @@ add_subdirectory(gtest_vendor)
 add_subdirectory(benchmark)
 add_subdirectory(common_test)
 add_subdirectory(plugins)
-add_subdirectory(helpers)
 add_subdirectory(integration)
 add_subdirectory(performance)
 add_subdirectory(regression)

diff --git a/test/common_test/CMakeLists.txt b/test/common_test/CMakeLists.txt
@@ -14,6 +14,8 @@ set(tests
   world_features
 )
 
+set(TEST_INSTALL_DIR ${CMAKE_INSTALL_LIBEXECDIR}/gz/${GZ_DESIGNATION}${PROJECT_VERSION_MAJOR}/)
+
 function(configure_common_test PHYSICS_ENGINE_NAME test_name)
   add_test(NAME ${test_name}_${PHYSICS_ENGINE_NAME}
     COMMAND
@@ -25,9 +27,10 @@ endfunction()
 set(GZ_PHYSICS_RESOURCE_DIR "${CMAKE_SOURCE_DIR}/resources")
 
 foreach(test ${tests})
-  add_executable(${TEST_TYPE}_${test} ${test}.cc)
+  set(test_executable "${TEST_TYPE}_${test}")
+  add_executable(${test_executable} ${test}.cc)
 
-  target_link_libraries(${TEST_TYPE}_${test}
+  target_link_libraries(${test_executable}
     PUBLIC
       gz-plugin${GZ_PLUGIN_VER}::loader
       gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER}
@@ -36,20 +39,21 @@ foreach(test ${tests})
       ${PROJECT_LIBRARY_TARGET_NAME}-mesh
       gtest
       gtest_main
-      ${PROJECT_NAME}_test_lib_loader
   )
 
-  target_compile_definitions(${TEST_TYPE}_${test} PRIVATE
+  target_compile_definitions(${test_executable} PRIVATE
     "TEST_WORLD_DIR=\"${CMAKE_CURRENT_SOURCE_DIR}/worlds/\""
     "GZ_PHYSICS_RESOURCE_DIR=\"${GZ_PHYSICS_RESOURCE_DIR}\""
   )
 
+  install(TARGETS ${test_executable} DESTINATION ${TEST_INSTALL_DIR})
+
   if (${BULLET_FOUND})
-    configure_common_test("bullet" ${TEST_TYPE}_${test})
-    configure_common_test("bullet-featherstone" ${TEST_TYPE}_${test})
+    configure_common_test("bullet" ${test_executable})
+    configure_common_test("bullet-featherstone" ${test_executable})
   endif()
   if (${DART_FOUND})
-    configure_common_test("dartsim" ${TEST_TYPE}_${test})
+    configure_common_test("dartsim" ${test_executable})
   endif()
-  configure_common_test("tpe" ${TEST_TYPE}_${test})
+  configure_common_test("tpe" ${test_executable})
 endforeach()
diff --git a/test/helpers/TestLibLoader.cc → test/common_test/TestLibLoader.hh b/test/helpers/TestLibLoader.cc → test/common_test/TestLibLoader.hh
@@ -14,8 +14,8 @@
  * limitations under the License.
  *
  */
-
-#include "TestLibLoader.hh"
+#ifndef GZ_PHYSICS_TESTLIBLOADER_HH_
+#define GZ_PHYSICS_TESTLIBLOADER_HH_
 
 #include <iostream>
 #include <string>
@@ -24,30 +24,39 @@
 #include <gz/common/Filesystem.hh>
 #include <gz/common/Util.hh>
 
-std::string gz::physics::TestLibLoader::libToTest = std::string("");
-
 namespace gz
 {
 namespace physics
 {
-  bool TestLibLoader::init(int argc, char *argv[])
+class TestLibLoader
+{
+  /// brief Initialize command line arguments
+  /// \param[in] argc Number of arguments
+  /// \param[in] argv Vector with the arguments
+  public: static bool init(int argc, char *argv[])
   {
     if (argc != 2)
     {
       std::cerr << "Please provide the path to an engine plugin.\n"
                 << "Usage " <<  argv[0] << " <physics engine path>\n";
       return false;
     }
+    std::string &libToTest = LibToTest();
     libToTest = argv[1];
     return true;
   }
 
-  std::string TestLibLoader::GetLibToTest()
+  /// \brief Get the name of the library to test
+  /// \return Name of the library to test
+  public: static std::string GetLibToTest()
   {
-    return libToTest;
+    return LibToTest();
   }
 
-  std::string TestLibLoader::PhysicsEngineName(std::string _name)
+  /// \brief Get Physics Engine name based on the plugin name
+  /// \param[in] _name Plugin name
+  /// \return Name of the Physics Engine
+  std::string PhysicsEngineName(std::string _name)
   {
     std::vector<std::string> tokens = gz::common::split(_name, "::");
     if (tokens.size() == 4)
@@ -66,5 +75,14 @@ namespace physics
     }
     return "";
   }
+
+  private: static std::string& LibToTest()
+  {
+    static std::string libToTest = "";
+    return libToTest;
+  }
+};
 }
 }
+
+#endif
diff --git a/test/common_test/addexternalforcetorque.cc b/test/common_test/addexternalforcetorque.cc
@@ -24,7 +24,7 @@
 #include <gz/math/Vector3.hh>
 #include <gz/math/eigen3/Conversions.hh>
 
-#include "../helpers/TestLibLoader.hh"
+#include "TestLibLoader.hh"
 #include "../Utils.hh"
 
 #include <gz/physics/FindFeatures.hh>

diff --git a/test/common_test/basic_test.cc b/test/common_test/basic_test.cc
@@ -19,7 +19,7 @@
 #include <gz/common/Console.hh>
 #include <gz/plugin/Loader.hh>
 
-#include "../helpers/TestLibLoader.hh"
+#include "TestLibLoader.hh"
 
 #include <gz/physics/FindFeatures.hh>
 #include <gz/physics/GetEntities.hh>

diff --git a/test/common_test/collisions.cc b/test/common_test/collisions.cc
@@ -19,7 +19,7 @@
 #include <gz/common/Console.hh>
 #include <gz/plugin/Loader.hh>
 
-#include "../helpers/TestLibLoader.hh"
+#include "TestLibLoader.hh"
 
 #include <gz/physics/FindFeatures.hh>
 #include <gz/physics/RequestEngine.hh>

diff --git a/test/common_test/construct_empty_world.cc b/test/common_test/construct_empty_world.cc
@@ -19,7 +19,7 @@
 #include <gz/common/Console.hh>
 #include <gz/plugin/Loader.hh>
 
-#include "../helpers/TestLibLoader.hh"
+#include "TestLibLoader.hh"
 
 #include <gz/physics/ConstructEmpty.hh>
 #include <gz/physics/FindFeatures.hh>

diff --git a/test/common_test/free_joint_features.cc b/test/common_test/free_joint_features.cc
@@ -18,7 +18,7 @@
 
 #include <tuple>
 
-#include "../helpers/TestLibLoader.hh"
+#include "TestLibLoader.hh"
 
 #include <gz/common/Console.hh>
 #include <gz/common/Util.hh>

diff --git a/test/common_test/joint_features.cc b/test/common_test/joint_features.cc
@@ -24,7 +24,7 @@
 #include <gz/math/Helpers.hh>
 #include <gz/math/eigen3/Conversions.hh>
 
-#include "../helpers/TestLibLoader.hh"
+#include "TestLibLoader.hh"
 #include "../Utils.hh"
 
 #include "gz/physics/FrameSemantics.hh"

diff --git a/test/common_test/kinematic_features.cc b/test/common_test/kinematic_features.cc
@@ -19,7 +19,7 @@
 #include <gz/common/Console.hh>
 #include <gz/plugin/Loader.hh>
 
-#include "../helpers/TestLibLoader.hh"
+#include "TestLibLoader.hh"
 #include "../Utils.hh"
 
 #include <gz/physics/ConstructEmpty.hh>

diff --git a/test/common_test/link_features.cc b/test/common_test/link_features.cc
@@ -24,7 +24,7 @@
 #include <gz/math/Vector3.hh>
 #include <gz/math/eigen3/Conversions.hh>
 
-#include "../helpers/TestLibLoader.hh"
+#include "TestLibLoader.hh"
 #include "../Utils.hh"
 
 #include <gz/physics/FindFeatures.hh>

diff --git a/test/common_test/shape_features.cc b/test/common_test/shape_features.cc
@@ -19,7 +19,7 @@
 #include <gz/common/Console.hh>
 #include <gz/plugin/Loader.hh>
 
-#include "../helpers/TestLibLoader.hh"
+#include "TestLibLoader.hh"
 #include "../Utils.hh"
 
 // Features

diff --git a/test/common_test/simulation_features.cc b/test/common_test/simulation_features.cc
@@ -25,7 +25,7 @@
 
 #include <gz/math/eigen3/Conversions.hh>
 
-#include "../helpers/TestLibLoader.hh"
+#include "TestLibLoader.hh"
 #include "../Utils.hh"
 
 #include <gz/physics/sdf/ConstructJoint.hh>

diff --git a/test/common_test/world_features.cc b/test/common_test/world_features.cc
@@ -19,7 +19,7 @@
 #include <gz/common/Console.hh>
 #include <gz/plugin/Loader.hh>
 
-#include "../helpers/TestLibLoader.hh"
+#include "TestLibLoader.hh"
 #include "../Utils.hh"
 
 #include <gz/physics/FindFeatures.hh>

diff --git a/test/helpers/CMakeLists.txt b/test/helpers/CMakeLists.txt
diff --git a/test/helpers/TestLibLoader.hh b/test/helpers/TestLibLoader.hh