Merge pull request ethz-asl#50 from ethz-asl/feature/unit_tests_msf_c…

…ore_state_accessors

Added unit tests for msf_core state accessors

msf_core/CMakeLists.txt

@@ -9,8 +9,11 @@ project(msf_core)
 #  MinSizeRel     : w/o debug symbols, w/ optimization, stripped binaries
 set(CMAKE_BUILD_TYPE Release)
 
-find_package(catkin REQUIRED COMPONENTS roscpp sensor_msgs dynamic_reconfigure msf_timing tf)
+set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${PROJECT_SOURCE_DIR}/cmake/)
+
+find_package(catkin REQUIRED COMPONENTS sensor_msgs dynamic_reconfigure msf_timing tf)
 find_package(Eigen REQUIRED)
+find_package(GLog REQUIRED)
 
 include_directories(include ${Eigen_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS})
 
@@ -27,15 +30,16 @@ add_definitions (-DENABLE_MSF_TIMING)
 generate_dynamic_reconfigure_options(cfg/MSF_Core.cfg)
 
 catkin_package(
-    DEPENDS eigen
+    DEPENDS eigen GLog
     CATKIN_DEPENDS roscpp sensor_msgs dynamic_reconfigure msf_timing tf
     INCLUDE_DIRS include ${Eigen_INCLUDE_DIRS}
     LIBRARIES msf_core similaritytransform
-    CFG_EXTRAS export_flags.cmake
+    CFG_EXTRAS export_flags.cmake FindGLog.cmake
 )
 
-add_library(msf_core src/lib/msf_tools.cc src/lib/falsecolor.cc src/lib/gps_conversion.cc)
-target_link_libraries(msf_core ${catkin_LIBRARIES})
+add_library(${PROJECT_NAME} src/lib/msf_tools.cc src/lib/falsecolor.cc 
+                     src/lib/gps_conversion.cc)
+target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES} ${GLOG_LIBRARY})
 add_dependencies(msf_core ${PROJECT_NAME}_gencfg) 
 
 add_library(similaritytransform src/similaritytransform.cc)
@@ -44,5 +48,6 @@ target_link_libraries(similaritytransform ${catkin_LIBRARIES})
 add_executable(test_similaritytransform src/test/test_similaritytransform.cc)
 target_link_libraries(test_similaritytransform similaritytransform)
 
-# in case anything here depends on the dynreconf file
-# add_dependencies(example_node ${${PROJECT_NAME}_EXPORTED_TARGETS})
+catkin_add_gtest(test_static_statelist src/test/test_staticstatelist.cc)
+target_link_libraries(test_static_statelist pthread ${PROJECT_NAME} ${GLOG_LIBRARY})
+

msf_core/cmake/FindGLog.cmake

@@ -0,0 +1,104 @@
+# - Try to find the Google Glog library
+#
+#  This module defines the following variables
+#
+#  GLOG_FOUND - Was Glog found
+#  GLOG_INCLUDE_DIRS - the Glog include directories
+#  GLOG_LIBRARIES - Link to this
+#
+#  This module accepts the following variables
+#
+#  GLOG_ROOT - Can be set to Glog install path or Windows build path
+#
+#=============================================================================
+#  FindGlog.cmake, adapted from FindBullet.cmake which has the following
+#  copyright -
+#-----------------------------------------------------------------------------
+# Copyright 2009 Kitware, Inc.
+# Copyright 2009 Philip Lowman <[email protected]>
+#
+# Distributed under the OSI-approved BSD License (the "License");
+# see accompanying file Copyright.txt for details.
+#
+# This software is distributed WITHOUT ANY WARRANTY; without even the
+# implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+# See the License for more information.
+#=============================================================================
+# (To distribute this file outside of CMake, substitute the full
+#  License text for the above reference.)
+
+if (NOT DEFINED GLOG_ROOT)
+    set (GLOG_ROOT /usr /usr/local)
+endif (NOT DEFINED GLOG_ROOT)
+
+if(MSVC)
+set(LIB_PATHS ${GLOG_ROOT} ${GLOG_ROOT}/Release)
+else(MSVC)
+set (LIB_PATHS ${GLOG_ROOT} ${GLOG_ROOT}/lib)
+endif(MSVC)
+
+macro(_FIND_GLOG_LIBRARY _var)
+  find_library(${_var}
+     NAMES 
+        ${ARGN}
+     PATHS
+		${LIB_PATHS}
+     PATH_SUFFIXES lib
+  )
+  mark_as_advanced(${_var})
+endmacro()
+
+macro(_GLOG_APPEND_LIBRARIES _list _release)
+   set(_debug ${_release}_DEBUG)
+   if(${_debug})
+      set(${_list} ${${_list}} optimized ${${_release}} debug ${${_debug}})
+   else()
+      set(${_list} ${${_list}} ${${_release}})
+   endif()
+endmacro()
+
+if(MSVC)
+    find_path(GLOG_INCLUDE_DIR NAMES raw_logging.h
+        PATHS
+		  ${GLOG_ROOT}/src/windows
+          ${GLOG_ROOT}/src/windows/glog
+		  )
+else(MSVC)
+	# Linux/OS X builds
+    find_path(GLOG_INCLUDE_DIR NAMES raw_logging.h
+        PATHS
+          ${GLOG_ROOT}/include/glog
+		  )
+endif(MSVC)
+
+# Find the libraries
+if(MSVC)
+    _FIND_GLOG_LIBRARY(GLOG_LIBRARY                   libglog.lib)
+else(MSVC)
+	# Linux/OS X builds
+    _FIND_GLOG_LIBRARY(GLOG_LIBRARY                   libglog.so)
+endif(MSVC)
+
+message("glog library = " ${GLOG_LIBRARY})
+
+# handle the QUIETLY and REQUIRED arguments and set GLOG_FOUND to TRUE if 
+# all listed variables are TRUE
+include("${CMAKE_ROOT}/Modules/FindPackageHandleStandardArgs.cmake")
+FIND_PACKAGE_HANDLE_STANDARD_ARGS(Glog DEFAULT_MSG
+    GLOG_LIBRARY)
+
+if(MSVC)
+    string(REGEX REPLACE "/glog$" "" VAR_WITHOUT ${GLOG_INCLUDE_DIR})
+    string(REGEX REPLACE "/windows$" "" VAR_WITHOUT ${VAR_WITHOUT})
+    set(GLOG_INCLUDE_DIRS ${GLOG_INCLUDE_DIRS} "${VAR_WITHOUT}")
+    string(REGEX REPLACE "/libglog.lib" "" GLOG_LIBRARY_DIR ${GLOG_LIBRARY})
+else(MSVC)
+	# Linux/OS X builds
+    set(GLOG_INCLUDE_DIRS ${GLOG_INCLUDE_DIR})
+    string(REGEX REPLACE "/libglog.so" "" GLOG_LIBRARY_DIR ${GLOG_LIBRARY})
+endif(MSVC)
+
+if(GLOG_FOUND)
+   _GLOG_APPEND_LIBRARIES(GLOG GLOG_LIBRARY)
+endif()
+

msf_core/src/test/test_msf_core.cc → msf_core/include/msf_core/testing_entrypoint.h

@@ -1,5 +1,5 @@
 /*
- * Copyright (C) 2012-2013 Simon Lynen, ASL, ETH Zurich, Switzerland
+ * Copyright (C) 2014 Simon Lynen, ASL, ETH Zurich, Switzerland
  * You can contact the author at <slynen at ethz dot ch>
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
@@ -14,7 +14,23 @@
  * See the License for the specific language governing permissions and
  * limitations under the License.
  */
-#include <ros/ros.h>
-#include <msf_core/msf_core.h>
-int main(int argc, char** argv) { }
 
+#ifndef TESTING_ENTRYPOINT_H_
+#define TESTING_ENTRYPOINT_H_
+
+#include <gtest/gtest.h>
+#include <glog/logging.h>
+
+// Let the Eclipse parser see the macro.
+#ifndef TEST
+#define TEST(a, b) int Test_##a##_##b()
+#endif
+
+#define MSF_UNITTEST_ENTRYPOINT\
+  int main(int argc, char** argv) {\
+ ::testing::InitGoogleTest(&argc, argv);\
+  google::InitGoogleLogging(argv[0]);\
+  return RUN_ALL_TESTS();\
+}
+
+#endif   // TESTING_ENTRYPOINT_H_

msf_core/package.xml

@@ -19,16 +19,17 @@
   <buildtool_depend>catkin</buildtool_depend>
 
   <!-- Dependencies needed to compile this package. -->
-  <build_depend>roscpp</build_depend>
   <build_depend>sensor_msgs</build_depend>
   <build_depend>dynamic_reconfigure</build_depend>
   <build_depend>msf_timing</build_depend>
   <build_depend>tf</build_depend>
+  <build_depend>GLog</build_depend>
 
   <!-- Dependencies needed after this package is compiled. -->
   <run_depend>roscpp</run_depend>
   <run_depend>sensor_msgs</run_depend>
   <run_depend>dynamic_reconfigure</run_depend>
   <run_depend>msf_timing</run_depend>
   <run_depend>tf</run_depend>
+  <run_depend>GLog</run_depend>
 </package>