ROS-compatible automated test

CMakeLists.txt

@@ -450,7 +450,9 @@ install(TARGETS qi DESTINATION lib)
 install(FILES package.xml DESTINATION share/${PROJECT_NAME})
 
 enable_testing()
-add_subdirectory("tests")
+if(BUILD_TESTING)
+  add_subdirectory("tests")
+endif()
 
 ament_export_include_directories(include)
 ament_export_libraries(qi)

package.xml

@@ -16,8 +16,7 @@
 
   <depend>boost</depend>
   <depend>libssl-dev</depend>
-  <test_depend>libgmock-dev</test_depend>
-
+  <test_depend>ament_cmake_gtest</test_depend>
   <buildtool_depend>ament_cmake</buildtool_depend>
 
   <export>

tests/CMakeLists.txt

@@ -9,8 +9,9 @@ add_library(
   "qi/testutils/mockutils.hpp"
 )
 
-find_package(GTest REQUIRED)
-target_link_libraries(qitestutils qi GTest::GTest)
+find_package(ament_cmake_gtest REQUIRED)
+target_include_directories(qitestutils PUBLIC GTEST_INCLUDE_DIRS)
+target_link_libraries(qitestutils PUBLIC qi GTEST_LIBRARIES)
 
 add_subdirectory("ka")
 # add_subdirectory("qi")

tests/ka/CMakeLists.txt

@@ -1,55 +1,53 @@
-include(CTest)
-if(BUILD_TESTING)
-  find_package(GTest REQUIRED)
-  find_package(OpenSSL REQUIRED)
-  find_package(Boost REQUIRED COMPONENTS system thread date_time)
+find_package(ament_cmake_gtest REQUIRED)
+find_package(OpenSSL REQUIRED)
+find_package(Boost REQUIRED COMPONENTS system thread date_time)
 
-  add_executable(
-    test_ka
-      "ark/test_inputiter.cpp"
-      "ark/test_mutable.cpp"
-      "test_algorithm.cpp"
-      "test_base64.cpp"
-      "test_conceptpredicate.cpp"
-      "test_empty.cpp"
-      "test_errorhandling.cpp"
-      "test_flatten.cpp"
-      "test_functor.cpp"
-      "test_functional.cpp"
-      "test_functional_common.hpp"
-      "test_indexed.cpp"
-      "test_integersequence.cpp"
-      "test_macro.cpp"
-      "test_macroregular.cpp"
-      "test_moveoncopy.cpp"
-      "test_mutablestore.cpp"
-      "test_opt.cpp"
-      "test_iterator.cpp"
-      "test_parse.cpp"
-      "test_productiter.cpp"
-      "test_range.cpp"
-      "test_relationpredicate.cpp"
-      "test_scoped.cpp"
-      "test_sha1.cpp"
-      "test_src.cpp"
-      "test_testutils.cpp"
-      "test_typetraits.cpp"
-      "test_unit.cpp"
-      "test_uri.cpp"
-      "test_uri_parsing.cpp"
-      "test_utility.cpp"
-      "test_zero.cpp"
-  )
+ament_add_gtest(
+  test_ka
+    "ark/test_inputiter.cpp"
+    "ark/test_mutable.cpp"
+    "test_algorithm.cpp"
+    "test_base64.cpp"
+    "test_conceptpredicate.cpp"
+    "test_empty.cpp"
+    "test_errorhandling.cpp"
+    "test_flatten.cpp"
+    "test_functor.cpp"
+    "test_functional.cpp"
+    "test_functional_common.hpp"
+    "test_indexed.cpp"
+    "test_integersequence.cpp"
+    "test_macro.cpp"
+    "test_macroregular.cpp"
+    "test_moveoncopy.cpp"
+    "test_mutablestore.cpp"
+    "test_opt.cpp"
+    "test_iterator.cpp"
+    "test_parse.cpp"
+    "test_productiter.cpp"
+    "test_range.cpp"
+    "test_relationpredicate.cpp"
+    "test_scoped.cpp"
+    "test_sha1.cpp"
+    "test_src.cpp"
+    "test_testutils.cpp"
+    "test_typetraits.cpp"
+    "test_unit.cpp"
+    "test_uri.cpp"
+    "test_uri_parsing.cpp"
+    "test_utility.cpp"
+    "test_zero.cpp"
+)
 
-  target_link_libraries(
-    test_ka
-      ${Boost_SYSTEM_LIBRARY} ${Boost_THREAD_LIBRARY} ${Boost_DATE_TIME_LIBRARY}
-      OpenSSL::Crypto OpenSSL::SSL
-      GTest::gmock GTest::gmock_main
-  )
+target_include_directories(
+  test_ka
+    PRIVATE
+    ${Boost_INCLUDE_DIRS}
+    $<INSTALL_INTERFACE:include>
+)
 
-  add_test(
-    NAME test_ka
-    COMMAND test_ka
-  )
-endif()
+target_link_libraries(
+  test_ka
+    ${Boost_SYSTEM_LIBRARY} ${Boost_THREAD_LIBRARY} ${Boost_DATE_TIME_LIBRARY}
+    OpenSSL::Crypto OpenSSL::SSL
+)

tests/ka/test_uri_parsing.cpp

@@ -3,7 +3,7 @@
 #include <ka/empty.hpp>
 #include <boost/range/size.hpp>
 #include <boost/range/adaptor/transformed.hpp>
-#include <gmock/gmock.h>
+#include <gtest/gtest.h>
 
 using namespace ka;
 using namespace ka::parse;