From 97752e12414dec8a707a1496cf6d476daba3f549 Mon Sep 17 00:00:00 2001 From: "Jeongseok (JS) Lee" Date: Mon, 20 Jan 2025 16:03:12 -0800 Subject: [PATCH] Use system gtest and benchmark in Pixi tasks (#1905) --- cmake/dart_defs.cmake | 2 +- pixi.lock | 1072 +++++++------------------------- pixi.toml | 114 ++-- tests/CMakeLists.txt | 2 +- tests/benchmark/CMakeLists.txt | 4 +- 5 files changed, 280 insertions(+), 914 deletions(-) diff --git a/cmake/dart_defs.cmake b/cmake/dart_defs.cmake index ec1d05176134b..85ef217deca28 100644 --- a/cmake/dart_defs.cmake +++ b/cmake/dart_defs.cmake @@ -420,7 +420,7 @@ function(dart_benchmarks) ${target_name} PRIVATE ${_ARG_INCLUDE_DIRS} ) - target_link_libraries(${target_name} PRIVATE benchmark benchmark_main) + target_link_libraries(${target_name} PRIVATE benchmark::benchmark benchmark::benchmark_main) if(UNIX) # gbenchmark requies pthread when compiled on a Unix machine diff --git a/pixi.lock b/pixi.lock index acbfde35e9e46..24787538d25d4 100644 --- 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packages: - libstdcxx >=13 - xorg-libx11 >=1.8.10,<2.0a0 - xorg-libxext >=1.3.6,<2.0a0 - arch: x86_64 - platform: linux license: MIT license_family: MIT size: 13891 @@ -6337,8 +5717,6 @@ packages: - libgcc >=13 - xorg-libx11 >=1.8.10,<2.0a0 - xorg-libxext >=1.3.6,<2.0a0 - arch: x86_64 - platform: linux license: MIT license_family: MIT size: 17819 @@ -6349,8 +5727,6 @@ packages: depends: - __glibc >=2.17,<3.0.a0 - libgcc >=13 - arch: x86_64 - platform: linux license: MIT license_family: MIT size: 26134 @@ -6362,8 +5738,6 @@ packages: - __glibc >=2.17,<3.0.a0 - libgcc >=13 - libzlib 1.3.1 hb9d3cd8_2 - arch: x86_64 - platform: linux license: Zlib license_family: Other size: 92286 @@ -6374,8 +5748,6 @@ packages: depends: - __osx >=10.13 - libzlib 1.3.1 hd23fc13_2 - arch: x86_64 - platform: osx license: Zlib license_family: Other size: 88544 @@ -6386,8 +5758,6 @@ packages: depends: - __osx >=11.0 - libzlib 1.3.1 h8359307_2 - arch: arm64 - platform: osx license: Zlib license_family: Other size: 77606 @@ -6400,8 +5770,6 @@ packages: - ucrt >=10.0.20348.0 - vc >=14.2,<15 - vc14_runtime >=14.29.30139 - arch: x86_64 - platform: win license: Zlib license_family: Other size: 107439 @@ -6413,8 +5781,6 @@ packages: - libgcc-ng >=12 - libstdcxx-ng >=12 - libzlib >=1.2.13,<2.0.0a0 - arch: x86_64 - platform: linux license: BSD-3-Clause license_family: BSD size: 554846 @@ -6425,8 +5791,6 @@ packages: depends: - __osx >=10.9 - libzlib >=1.2.13,<2.0.0a0 - arch: x86_64 - platform: osx license: BSD-3-Clause license_family: BSD size: 498900 @@ -6437,8 +5801,6 @@ packages: depends: - __osx >=11.0 - libzlib >=1.2.13,<2.0.0a0 - arch: arm64 - platform: osx license: BSD-3-Clause license_family: BSD size: 405089 @@ -6451,8 +5813,6 @@ packages: - ucrt >=10.0.20348.0 - vc >=14.2,<15 - vc14_runtime >=14.29.30139 - arch: x86_64 - platform: win license: BSD-3-Clause license_family: BSD size: 349143 diff --git a/pixi.toml b/pixi.toml index 3456f29634fa4..6346311782f4e 100644 --- a/pixi.toml +++ b/pixi.toml @@ -7,9 +7,11 @@ channels = ["conda-forge"] platforms = ["linux-64", "osx-64", "osx-arm64", "win-64"] [build-dependencies] +benchmark = ">=1.9.1,<2" black = ">=24.2.0" cmake = ">=3.22" doxygen = ">=1.10.0" +gtest = ">=1.15.2,<2" isort = ">=5.13.2" ninja = ">=1.11.1" pip = ">=24.0" @@ -20,17 +22,17 @@ setuptools = ">=69.1.1" [dependencies] assimp = ">=5.4.3,<6" -libboost = ">=1.86.0,<2" bullet-cpp = ">=3.25,<4" console_bridge = ">=1.0.2,<2" eigen = ">=3.4.0,<4" fcl = ">=0.7.0,<0.8" fmt = ">=11.0.2,<12" -imgui = ">=1.91.5,<2" -ipopt = ">=3.14.16,<4" +imgui = ">=1.91.6,<2" +ipopt = ">=3.14.17,<4" +libboost-devel = ">=1.86.0,<2" libode = ">=0.16.5,<0.17" nlopt = ">=2.9.0,<3" -numpy = ">=2.1.3,<3" +numpy = ">=2.2.2,<3" octomap = ">=1.10.0,<2" openscenegraph = ">=3.6.5,<4" pagmo = ">=2.19.1,<3" @@ -48,74 +50,76 @@ config = { cmd = """ -B build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE \ -DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX \ -DCMAKE_BUILD_TYPE=$BUILD_TYPE \ - -DDART_VERBOSE=$DART_VERBOSE \ + -DCMAKE_PREFIX_PATH=$CONDA_PREFIX \ + -DDART_USE_SYSTEM_GOOGLEBENCHMARK=ON \ + -DDART_USE_SYSTEM_GOOGLETEST=ON \ -DDART_USE_SYSTEM_IMGUI=ON \ - -DCMAKE_PREFIX_PATH=$CONDA_PREFIX + -DDART_VERBOSE=$DART_VERBOSE """, env = { DART_VERBOSE = "OFF", BUILD_TYPE = "Release" } } lint-cpp = { cmd = """ cmake \ --build build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE \ --target format -""", depends_on = ["config"] } +""", depends-on = ["config"] } lint-py = { cmd = """ black . --exclude '\\..*' \ && isort . --skip-glob '.*' -""", depends_on = ["config"] } +""", depends-on = ["config"] } -lint = { depends_on = ["lint-cpp", "lint-py"] } +lint = { depends-on = ["lint-cpp", "lint-py"] } check-lint-cpp = { cmd = """ cmake \ --build build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE \ --target check-format -""", depends_on = ["config"], env = { BUILD_TYPE = "Release" } } +""", depends-on = ["config"], env = { BUILD_TYPE = "Release" } } check-lint-py = { cmd = """ black . --check --exclude '\\..*' \ && isort . --check --skip-glob '.*' -""", depends_on = ["config"] } +""", depends-on = ["config"] } -check-lint = { depends_on = ["check-lint-cpp", "check-lint-py"] } +check-lint = { depends-on = ["check-lint-cpp", "check-lint-py"] } build = { cmd = """ cmake \ --build build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE \ -j \ --target all -""", depends_on = ["config"], env = { BUILD_TYPE = "Release" } } +""", depends-on = ["config"], env = { BUILD_TYPE = "Release" } } build-tests = { cmd = """ cmake \ --build build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE \ -j \ --target tests -""", depends_on = ["config"], env = { BUILD_TYPE = "Release" } } +""", depends-on = ["config"], env = { BUILD_TYPE = "Release" } } build-dartpy = { cmd = """ cmake \ --build build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE \ -j \ --target dartpy -""", depends_on = ["config"], env = { BUILD_TYPE = "Release" } } +""", depends-on = ["config"], env = { BUILD_TYPE = "Release" } } test = { cmd = """ ctest \ --test-dir build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE \ --output-on-failure -""", depends_on = ["build-tests"], env = { BUILD_TYPE = "Release" } } +""", depends-on = ["build-tests"], env = { BUILD_TYPE = "Release" } } test-dartpy = { cmd = """ cmake \ --build build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE \ -j \ --target pytest -""", depends_on = ["config"], env = { BUILD_TYPE = "Release" } } +""", depends-on = ["config"], env = { BUILD_TYPE = "Release" } } test-all = { cmd = """ cmake --build build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE -j --target ALL -""", depends_on = ["config"], env = { BUILD_TYPE = "Release" } } +""", depends-on = ["config"], env = { BUILD_TYPE = "Release" } } ex = { cmd = """ cmake \ @@ -123,7 +127,7 @@ ex = { cmd = """ --target $EXE \ --parallel \ && ./build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE/bin/$EXE -""", depends_on = [ +""", depends-on = [ "config", ], env = { EXE = "hello_world", BUILD_TYPE = "Release" } } @@ -133,7 +137,7 @@ ex-atlas-puppet = { cmd = """ --target atlas_puppet \ --parallel \ && ./build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE/bin/atlas_puppet -""", depends_on = ["config"], env = { BUILD_TYPE = "Release" } } +""", depends-on = ["config"], env = { BUILD_TYPE = "Release" } } ex-atlas-simbicon = { cmd = """ cmake \ @@ -141,7 +145,7 @@ ex-atlas-simbicon = { cmd = """ --target atlas_simbicon \ --parallel \ && ./build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE/bin/atlas_simbicon -""", depends_on = ["config"], env = { BUILD_TYPE = "Release" } } +""", depends-on = ["config"], env = { BUILD_TYPE = "Release" } } ex-hello-world = { cmd = """ cmake \ @@ -149,7 +153,7 @@ ex-hello-world = { cmd = """ --target hello_world \ --parallel \ && ./build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE/bin/hello_world -""", depends_on = ["config"], env = { BUILD_TYPE = "Release" } } +""", depends-on = ["config"], env = { BUILD_TYPE = "Release" } } bm = { cmd = """ cmake \ @@ -157,7 +161,7 @@ bm = { cmd = """ --target BM_INTEGRATION_$EXE \ --parallel \ && ./build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE/bin/BM_INTEGRATION_$EXE -""", depends_on = ["config"], env = { EXE = "empty", BUILD_TYPE = "Release" } } +""", depends-on = ["config"], env = { EXE = "empty", BUILD_TYPE = "Release" } } bm-boxes = { cmd = """ cmake \ @@ -165,7 +169,7 @@ bm-boxes = { cmd = """ --target BM_INTEGRATION_boxes \ --parallel \ && ./build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE/bin/BM_INTEGRATION_boxes -""", depends_on = ["config"], env = { BUILD_TYPE = "Release" } } +""", depends-on = ["config"], env = { BUILD_TYPE = "Release" } } bm-empty = { cmd = """ cmake \ @@ -173,7 +177,7 @@ bm-empty = { cmd = """ --target BM_INTEGRATION_empty \ --parallel \ && ./build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE/bin/BM_INTEGRATION_empty -""", depends_on = ["config"], env = { BUILD_TYPE = "Release" } } +""", depends-on = ["config"], env = { BUILD_TYPE = "Release" } } bm-kinematics = { cmd = """ cmake \ @@ -181,7 +185,7 @@ bm-kinematics = { cmd = """ --target BM_INTEGRATION_kinematics \ --parallel \ && ./build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE/bin/BM_INTEGRATION_kinematics -""", depends_on = [ +""", depends-on = [ "config", ], env = { BUILD_TYPE = "Release" } } @@ -191,7 +195,7 @@ tu-biped = { cmd = """ --target tutorial_biped \ --parallel \ && ./build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE/bin/tutorial_biped -""", depends_on = ["config"], env = { BUILD_TYPE = "Release" } } +""", depends-on = ["config"], env = { BUILD_TYPE = "Release" } } tu-biped-fi = { cmd = """ cmake \ @@ -199,7 +203,7 @@ tu-biped-fi = { cmd = """ --target tutorial_biped_finished \ --parallel \ && ./build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE/bin/tutorial_biped_finished -""", depends_on = [ +""", depends-on = [ "config", ], env = { BUILD_TYPE = "Release" } } @@ -209,7 +213,7 @@ tu-collisions = { cmd = """ --target tutorial_collisions \ --parallel \ && ./build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE/bin/tutorial_collisions -""", depends_on = ["config"], env = { BUILD_TYPE = "Release" } } +""", depends-on = ["config"], env = { BUILD_TYPE = "Release" } } tu-collisions-fi = { cmd = """ cmake \ @@ -217,7 +221,7 @@ tu-collisions-fi = { cmd = """ --target tutorial_collisions_finished \ --parallel \ && ./build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE/bin/tutorial_collisions_finished -""", depends_on = [ +""", depends-on = [ "config", ], env = { BUILD_TYPE = "Release" } } @@ -227,7 +231,7 @@ tu-dominoes = { cmd = """ --target tutorial_dominoes \ --parallel \ && ./build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE/bin/tutorial_dominoes -""", depends_on = ["config"], env = { BUILD_TYPE = "Release" } } +""", depends-on = ["config"], env = { BUILD_TYPE = "Release" } } tu-dominoes-fi = { cmd = """ cmake \ @@ -235,7 +239,7 @@ tu-dominoes-fi = { cmd = """ --target tutorial_dominoes_finished \ --parallel \ && ./build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE/bin/tutorial_dominoes_finished -""", depends_on = [ +""", depends-on = [ "config", ], env = { BUILD_TYPE = "Release" } } @@ -245,7 +249,7 @@ tu-multi-pendulum = { cmd = """ --target tutorial_multi_pendulum \ --parallel \ && ./build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE/bin/tutorial_multi_pendulum -""", depends_on = [ +""", depends-on = [ "config", ], env = { BUILD_TYPE = "Release" } } @@ -255,7 +259,7 @@ tu-multi-pendulum-fi = { cmd = """ --target tutorial_multi_pendulum_finished \ --parallel \ && ./build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE/bin/tutorial_multi_pendulum_finished -""", depends_on = [ +""", depends-on = [ "config", ], env = { BUILD_TYPE = "Release" } } @@ -264,7 +268,7 @@ install = { cmd = """ --build build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE \ --target install \ --parallel \ -""", depends_on = ["config"], env = { BUILD_TYPE = "Release" } } +""", depends-on = ["config"], env = { BUILD_TYPE = "Release" } } ################################################################################ # linux-64 @@ -326,28 +330,30 @@ config = { cmd = """ -DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX \ -DCMAKE_PREFIX_PATH=$CONDA_PREFIX \ -DDART_MSVC_DEFAULT_OPTIONS=ON \ + -DDART_USE_SYSTEM_GOOGLEBENCHMARK=ON \ + -DDART_USE_SYSTEM_GOOGLETEST=ON \ -DDART_USE_SYSTEM_IMGUI=ON \ -DDART_VERBOSE=$DART_VERBOSE """, env = { DART_VERBOSE = "OFF" } } lint-py = { cmd = """ black . --exclude '\\..*' && isort . --skip-glob '.*' -""", depends_on = ["config"] } +""", depends-on = ["config"] } -lint = { depends_on = ["lint-py"] } +lint = { depends-on = ["lint-py"] } check-lint-py = { cmd = """ black . --check --exclude '\\..*' && isort . --check --skip-glob '.*' -""", depends_on = ["config"] } +""", depends-on = ["config"] } -check-lint = { depends_on = ["check-lint-py"] } +check-lint = { depends-on = ["check-lint-py"] } build = { cmd = """ cmake \ --build build/$PIXI_ENVIRONMENT_NAME/cpp \ --config $BUILD_TYPE \ -j -""", depends_on = ["config"], env = { BUILD_TYPE = "Release" } } +""", depends-on = ["config"], env = { BUILD_TYPE = "Release" } } build-tests = { cmd = """ cmake \ @@ -355,21 +361,21 @@ build-tests = { cmd = """ --config $BUILD_TYPE \ -j \ --target tests -""", depends_on = ["config"], env = { BUILD_TYPE = "Release" } } +""", depends-on = ["config"], env = { BUILD_TYPE = "Release" } } build-dartpy = { cmd = """ cmake \ --build build/$PIXI_ENVIRONMENT_NAME/cpp \ -j \ --target dartpy -""", depends_on = ["config"] } +""", depends-on = ["config"] } test = { cmd = """ ctest \ --test-dir build/$PIXI_ENVIRONMENT_NAME/cpp \ --build-config $BUILD_TYPE \ --output-on-failure -""", depends_on = ["build-tests"], env = { BUILD_TYPE = "Release" } } +""", depends-on = ["build-tests"], env = { BUILD_TYPE = "Release" } } test-dartpy = { cmd = """ cmake \ @@ -377,7 +383,7 @@ test-dartpy = { cmd = """ --config $BUILD_TYPE \ -j \ --target pytest -""", depends_on = ["config"], env = { BUILD_TYPE = "Release" } } +""", depends-on = ["config"], env = { BUILD_TYPE = "Release" } } test-all = { cmd = """ cmake \ @@ -385,7 +391,7 @@ test-all = { cmd = """ --config $BUILD_TYPE \ -j \ --target ALL -""", depends_on = ["config"], env = { BUILD_TYPE = "Release" } } +""", depends-on = ["config"], env = { BUILD_TYPE = "Release" } } tu-biped = { cmd = """ cmake \ @@ -394,7 +400,7 @@ tu-biped = { cmd = """ --target tutorial_biped \ --parallel \ && build/$BUILD_TYPE/tutorial_biped.exe -""", depends_on = ["config"], env = { BUILD_TYPE = "Release" } } +""", depends-on = ["config"], env = { BUILD_TYPE = "Release" } } tu-biped-fi = { cmd = """ cmake \ @@ -403,7 +409,7 @@ tu-biped-fi = { cmd = """ --target tutorial_biped_finished \ --parallel \ && build/$BUILD_TYPE/tutorial_biped.exe -""", depends_on = ["config"], env = { BUILD_TYPE = "Release" } } +""", depends-on = ["config"], env = { BUILD_TYPE = "Release" } } tu-collisions = { cmd = """ cmake \ @@ -412,7 +418,7 @@ tu-collisions = { cmd = """ --target tutorial_collisions \ --parallel \ && build/$BUILD_TYPE/tutorial_collisions.exe -""", depends_on = ["config"], env = { BUILD_TYPE = "Release" } } +""", depends-on = ["config"], env = { BUILD_TYPE = "Release" } } tu-collisions-fi = { cmd = """ cmake \ @@ -421,7 +427,7 @@ tu-collisions-fi = { cmd = """ --target tutorial_collisions_finished \ --parallel \ && build/$BUILD_TYPE/tutorial_collisions.exe -""", depends_on = ["config"], env = { BUILD_TYPE = "Release" } } +""", depends-on = ["config"], env = { BUILD_TYPE = "Release" } } tu-dominoes = { cmd = """ cmake \ @@ -430,7 +436,7 @@ tu-dominoes = { cmd = """ --target tutorial_dominoes \ --parallel \ && build/$BUILD_TYPE/tutorial_dominoes.exe -""", depends_on = ["config"], env = { BUILD_TYPE = "Release" } } +""", depends-on = ["config"], env = { BUILD_TYPE = "Release" } } tu-dominoes-fi = { cmd = """ cmake \ @@ -439,7 +445,7 @@ tu-dominoes-fi = { cmd = """ --target tutorial_dominoes_finished \ --parallel \ && build/$BUILD_TYPE/tutorial_dominoes.exe -""", depends_on = ["config"], env = { BUILD_TYPE = "Release" } } +""", depends-on = ["config"], env = { BUILD_TYPE = "Release" } } tu-multi-pendulum = { cmd = """ cmake \ @@ -448,7 +454,7 @@ tu-multi-pendulum = { cmd = """ --target tutorial_multi_pendulum \ --parallel \ && build/$BUILD_TYPE/tutorial_multi_pendulum.exe -""", depends_on = ["config"], env = { BUILD_TYPE = "Release" } } +""", depends-on = ["config"], env = { BUILD_TYPE = "Release" } } tu-multi-pendulum-fi = { cmd = """ cmake \ @@ -457,7 +463,7 @@ tu-multi-pendulum-fi = { cmd = """ --target tutorial_multi_pendulum_finished \ --parallel \ && build/$BUILD_TYPE/tutorial_multi_pendulum.exe -""", depends_on = ["config"], env = { BUILD_TYPE = "Release" } } +""", depends-on = ["config"], env = { BUILD_TYPE = "Release" } } install = { cmd = """ cmake \ @@ -465,4 +471,4 @@ install = { cmd = """ --config $BUILD_TYPE \ -j \ --target install -""", depends_on = ["build"], env = { BUILD_TYPE = "Release" } } +""", depends-on = ["build"], env = { BUILD_TYPE = "Release" } } diff --git a/tests/CMakeLists.txt b/tests/CMakeLists.txt index 990313ea551f7..f8d2f0471bcfd 100644 --- a/tests/CMakeLists.txt +++ b/tests/CMakeLists.txt @@ -38,7 +38,7 @@ else() FetchContent_Declare( googletest GIT_REPOSITORY https://github.com/google/googletest - GIT_TAG v1.14.0 + GIT_TAG v1.15.2 ) set(gtest_force_shared_crt ON CACHE BOOL "" FORCE) set(gtest_disable_pthreads ON CACHE BOOL "" FORCE) diff --git a/tests/benchmark/CMakeLists.txt b/tests/benchmark/CMakeLists.txt index c6dd93b19c07c..ff077a8ebfe10 100644 --- a/tests/benchmark/CMakeLists.txt +++ b/tests/benchmark/CMakeLists.txt @@ -29,13 +29,13 @@ # POSSIBILITY OF SUCH DAMAGE. if(DART_USE_SYSTEM_GOOGLEBENCHMARK) - find_package(benchmark REQUIRED) + find_package(benchmark CONFIG REQUIRED) else() include(FetchContent) FetchContent_Declare( benchmark GIT_REPOSITORY https://github.com/google/benchmark.git - GIT_TAG v1.8.3 + GIT_TAG v1.9.1 ) set(BENCHMARK_ENABLE_TESTING OFF CACHE BOOL "" FORCE) FetchContent_MakeAvailable(benchmark)