Create separate package for tests

.github/workflows/main.yml

@@ -40,6 +40,4 @@ jobs:
             - run: make dep_install PKG=intrometry_pjmsg_topic
             - run: make intrometry BUILD_PROFILE=scan_build
             - run: make intrometry
-            - run: make test PKG=intrometry_frontend
-            - run: make test PKG=intrometry_pjmsg_mcap
-            - run: make test PKG=intrometry_pjmsg_topic
+            - run: make test PKG=intrometry_tests

README.md

@@ -161,7 +161,7 @@ target_link_libraries(my_library intrometry::<BACKEND>)
 ### C++
 
 ```
-#include <intrometry/<BACKEND>/<BACKEND>.h>
+#include <intrometry/<BACKEND>/all.h>
 ```
 
 

frontend/include/intrometry/combo.h

@@ -28,7 +28,7 @@ namespace intrometry
     class ComboSink
     {
     public:
-        std::shared_ptr<SinkBase> sink_;
+        std::shared_ptr<Sink> sink_;
         std::tuple<t_Ariles...> data_;
 
     public:

frontend/include/intrometry/sink.h

@@ -22,10 +22,10 @@ namespace intrometry
      *
      * @ingroup API
      */
-    class SinkBase
+    class Sink
     {
     public:
-        virtual ~SinkBase() = default;
+        virtual ~Sink() = default;
 
         /**
          * Initialize sink.
@@ -88,7 +88,7 @@ namespace intrometry
 
 
     template <class t_Parameters, class t_Implementation>
-    class SinkPIMPLBase : public SinkBase
+    class SinkPIMPLBase : public Sink
     {
     public:
         using Parameters = t_Parameters;

pjmsg_mcap/CMakeLists.txt

@@ -74,12 +74,6 @@ install(DIRECTORY include/intrometry
 )
 
 
-if(NOT DEFINED BUILD_TESTING OR BUILD_TESTING)
-    enable_testing()
-    add_subdirectory(test)
-endif()
-
-
 # ---
 # cmake package stuff
 export(EXPORT ${PROJECT_NAME}
@@ -106,7 +100,8 @@ file(
     "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}Config.cmake"
     "include(\"\${CMAKE_CURRENT_LIST_DIR}/${PROJECT_NAME}Targets.cmake\")\n"
     "include(CMakeFindDependencyMacro)\n"
-    "find_dependency(ariles2_namevalue2_ws)"
+    "find_dependency(ariles2_namevalue2_ws)\n"
+    "find_dependency(intrometry_frontend)"
 )
 
 install(

pjmsg_mcap/include/intrometry/pjmsg_mcap/pjmsg_mcap.h → pjmsg_mcap/include/intrometry/pjmsg_mcap/all.h

@@ -8,4 +8,4 @@
 #pragma once
 
 #include <intrometry/intrometry.h>
-#include "sink.h"
+#include <intrometry/pjmsg_mcap/sink.h>

pjmsg_mcap/package.xml

@@ -17,6 +17,4 @@
     <build_depend>ariles2_namevalue2_ws</build_depend>
     <exec_depend>thread_supervisor</exec_depend>
     <exec_depend>ariles2_namevalue2_ws</exec_depend>
-
-    <test_depend>gtest</test_depend>
 </package>

pjmsg_mcap/src/intrometry.cpp

@@ -324,7 +324,10 @@ namespace intrometry::pjmsg_mcap::sink
             const std::string topic_prefix =
                     intrometry::backend::str_concat("/intrometry/", node_id.empty() ? random_id : node_id);
 
-            std::filesystem::create_directories(directory);
+            if (not directory.empty())
+            {
+                std::filesystem::create_directories(directory);
+            }
             const std::filesystem::path filename = directory
                                                    / intrometry::backend::str_concat(
                                                            node_id,
@@ -334,7 +337,6 @@ namespace intrometry::pjmsg_mcap::sink
                                                            intrometry::backend::getDateString(),
                                                            ".mcap");
 
-
             mcap_writer_.initialize(filename, topic_prefix);
 
             thread_supervisor_.add(

pjmsg_topic/CMakeLists.txt

@@ -68,11 +68,6 @@ install(DIRECTORY include/intrometry
 )
 
 
-if(BUILD_TESTING)
-    add_subdirectory(test)
-endif()
-
-
 # ---
 # cmake package stuff
 export(EXPORT ${PROJECT_NAME}

pjmsg_topic/include/intrometry/pjmsg_topic/pjmsg_topic.h → pjmsg_topic/include/intrometry/pjmsg_topic/all.h

@@ -8,4 +8,4 @@
 #pragma once
 
 #include <intrometry/intrometry.h>
-#include "sink.h"
+#include <intrometry/pjmsg_topic/sink.h>

pjmsg_topic/package.xml

@@ -21,6 +21,4 @@
     <exec_depend>thread_supervisor</exec_depend>
     <exec_depend>plotjuggler_msgs</exec_depend>
     <exec_depend>ariles2_namevalue2_ws</exec_depend>
-
-    <test_depend>gtest</test_depend>
 </package>

tests/CMakeLists.txt

@@ -0,0 +1,24 @@
+cmake_minimum_required(VERSION 3.8)
+project(intrometry_tests VERSION 1.0.0 LANGUAGES CXX)
+
+if(CCWS_CXX_FLAGS)
+    set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${CCWS_CXX_FLAGS}")
+    set (CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} ${CCWS_LINKER_FLAGS}")
+else()
+    set(CMAKE_POSITION_INDEPENDENT_CODE ON)
+    set(CMAKE_VERBOSE_MAKEFILE ON)
+
+    if(NOT CMAKE_CXX_STANDARD)
+        set(CMAKE_CXX_STANDARD 17)
+        set(CMAKE_CXX_STANDARD_REQUIRED ON)
+    endif()
+
+    if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+        add_compile_options(-Wall -Wextra -Wpedantic -Werror)
+    endif()
+endif()
+
+if(NOT DEFINED BUILD_TESTING OR BUILD_TESTING)
+    enable_testing()
+    add_subdirectory(test)
+endif()

tests/package.xml

@@ -0,0 +1,19 @@
+<?xml version="1.0"?>
+<package format="2">
+    <name>intrometry_tests</name>
+    <version>1.0.0</version>
+    <description>Intrometry tests</description>
+    <maintainer email="[email protected]">Alexander Sherikov</maintainer>
+    <author email="[email protected]">Alexander Sherikov</author>
+    <license>Apache 2.0</license>
+
+    <export>
+        <build_type>cmake</build_type>
+    </export>
+
+    <depend>thread_supervisor</depend>
+    <depend>intrometry_pjmsg_mcap</depend>
+    <depend>intrometry_pjmsg_topic</depend>
+
+    <test_depend>gtest</test_depend>
+</package>

tests/test/CMakeLists.txt

@@ -0,0 +1,42 @@
+find_package(GTest REQUIRED)
+find_package(thread_supervisor REQUIRED)
+
+set(TEST_BACKEND pjmsg_mcap)
+foreach(TEST_NAME combo intrometry)
+    find_package(intrometry_${TEST_BACKEND} REQUIRED)
+
+    add_executable(test_${TEST_BACKEND}_${TEST_NAME} ${TEST_BACKEND}_${TEST_NAME}.cpp)
+    target_link_libraries(test_${TEST_BACKEND}_${TEST_NAME}
+        intrometry::${TEST_BACKEND}
+        GTest::GTest
+    )
+    add_test(test_${TEST_BACKEND}_${TEST_NAME} test_${TEST_BACKEND}_${TEST_NAME})
+endforeach()
+
+set(TEST_BACKEND pjmsg_topic)
+foreach(TEST_NAME combo intrometry)
+    find_package(rclcpp REQUIRED)
+    find_package(plotjuggler_msgs REQUIRED)
+    find_package(intrometry_${TEST_BACKEND} REQUIRED)
+
+    add_executable(test_${TEST_BACKEND}_${TEST_NAME} ${TEST_BACKEND}_${TEST_NAME}.cpp)
+    target_link_libraries(test_${TEST_BACKEND}_${TEST_NAME}
+        intrometry::${TEST_BACKEND}
+        GTest::GTest
+        thread_supervisor::thread_supervisor
+        rclcpp::rclcpp
+        plotjuggler_msgs::plotjuggler_msgs__rosidl_typesupport_cpp
+    )
+    add_test(test_${TEST_BACKEND}_${TEST_NAME} test_${TEST_BACKEND}_${TEST_NAME})
+endforeach()
+
+
+foreach(TEST_NAME sink_base)
+    add_executable(test_${TEST_NAME} ${TEST_NAME}.cpp)
+    target_link_libraries(test_${TEST_NAME}
+        intrometry::pjmsg_topic
+        intrometry::pjmsg_mcap
+        GTest::GTest
+    )
+    add_test(test_${TEST_NAME} test_${TEST_NAME})
+endforeach()

pjmsg_mcap/test/common.h → tests/test/common.h

@@ -6,8 +6,8 @@
     @brief
 */
 
+#pragma once
 
-#include "intrometry/pjmsg_mcap/pjmsg_mcap.h"
 
 #include <chrono>
 #include <thread>

pjmsg_mcap/test/combo.cpp → tests/test/pjmsg_mcap_combo.cpp

@@ -6,25 +6,25 @@
     @brief
 */
 
-#include "common.h"
+#include "pjmsg_mcap_common.h"
 
 
 namespace
 {
-    class ComboSinkFixture : public ::testing::Test
+    class PjmsgMcapComboSinkFixture : public ::testing::Test
     {
     public:
         intrometry::ComboSink<intrometry_tests::ArilesDebug> intrometry_sink_;
 
     public:
-        ComboSinkFixture()
+        PjmsgMcapComboSinkFixture()
         {
             intrometry_sink_.initialize<intrometry::pjmsg_mcap::Sink>(
                     intrometry::Source::Parameters(/*persistent_structure=*/true), "ComboSinkFixture");
         }
     };
 
-    class MultiSinkFixture : public ::testing::Test
+    class PjmsgMcapMultiSinkFixture : public ::testing::Test
     {
     public:
         using MultiPub = intrometry::ComboSink<intrometry_tests::ArilesDebug, intrometry_tests::ArilesDebug1>;
@@ -33,7 +33,7 @@ namespace
 }  // namespace
 
 
-TEST_F(ComboSinkFixture, Simple)
+TEST_F(PjmsgMcapComboSinkFixture, Simple)
 {
     for (intrometry_sink_.get<intrometry_tests::ArilesDebug>().size_ = 0;
          intrometry_sink_.get<intrometry_tests::ArilesDebug>().size_ < 5;
@@ -46,7 +46,7 @@ TEST_F(ComboSinkFixture, Simple)
     ASSERT_TRUE(true);
 }
 
-TEST_F(MultiSinkFixture, Multi)
+TEST_F(PjmsgMcapMultiSinkFixture, Multi)
 {
     MultiPubVec pub_vector;
 

tests/test/pjmsg_mcap_common.h

@@ -0,0 +1,13 @@
+/**
+    @file
+    @author  Alexander Sherikov
+    @copyright 2024 Alexander Sherikov. Licensed under the Apache License,
+    Version 2.0. (see LICENSE or http://www.apache.org/licenses/LICENSE-2.0)
+    @brief
+*/
+
+#pragma once
+
+#include <intrometry/pjmsg_mcap/all.h>
+#include "common.h"
+

pjmsg_mcap/test/intrometry.cpp → tests/test/pjmsg_mcap_intrometry.cpp

@@ -6,26 +6,26 @@
     @brief
 */
 
-#include "common.h"
+#include "pjmsg_mcap_common.h"
 
 
 namespace
 {
-    class IntrometryFixture : public ::testing::Test
+    class PjmsgMcapIntrometryFixture : public ::testing::Test
     {
     public:
         intrometry::pjmsg_mcap::Sink intrometry_sink_;
 
     public:
-        IntrometryFixture() : intrometry_sink_("IntrometryFixture")
+        PjmsgMcapIntrometryFixture() : intrometry_sink_("IntrometryFixture")
         {
             intrometry_sink_.initialize();
         }
     };
 }  // namespace
 
 
-TEST_F(IntrometryFixture, ArilesDynamic)
+TEST_F(PjmsgMcapIntrometryFixture, ArilesDynamic)
 {
     intrometry_tests::ArilesDebug debug;
     intrometry_sink_.assign(debug);
@@ -42,7 +42,7 @@ TEST_F(IntrometryFixture, ArilesDynamic)
 }
 
 
-TEST_F(IntrometryFixture, ArilesPersistent)
+TEST_F(PjmsgMcapIntrometryFixture, ArilesPersistent)
 {
     intrometry_tests::ArilesDebug debug{};
     intrometry_sink_.assign(debug, intrometry::Source::Parameters(/*persistent_structure=*/true));
@@ -60,7 +60,7 @@ TEST_F(IntrometryFixture, ArilesPersistent)
 }
 
 
-TEST_F(IntrometryFixture, MultipleSources)
+TEST_F(PjmsgMcapIntrometryFixture, MultipleSources)
 {
     const intrometry_tests::ArilesDebug debug0{};
     const intrometry_tests::ArilesDebug1 debug1{};