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CMakeLists.txt
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Include(AddUnitTest.cmake)
IF (BUILD_TESTING)
if (NOT RUNTIME_OUTPUT_DIRECTORY)
set(RUNTIME_OUTPUT_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR})
endif()
if ( NOT Boost_UNIT_TEST_FRAMEWORK_FOUND )
message(FATAL_ERROR "Can't build unit tests without Boost unit_test_framework.")
endif()
SET(BUILD_TEST_RT_MEM_POOL_SIZE "20000" CACHE STRING "Size of real-time memory pool used by test cases (bytes)")
SET(COMPILE_DEFS "${OROCOS-RTT_DEFINITIONS};BUILD_TEST_RT_MEM_POOL_SIZE=${BUILD_TEST_RT_MEM_POOL_SIZE}")
IF (OROCOS_TARGET STREQUAL win32)
#SET(TEST_LIBRARIES ${Boost_UNIT_TEST_FRAMEWORK_LIBRARY})
LIST(APPEND OROCOS-RTT_DEFINITIONS BOOST_TEST_NO_LIB)
set( CMAKE_CXX_FLAGS_ADD "${CMAKE_CXX_FLAGS_ADD} /EHa") # required for boost.test's use of _set_se_translator()
ENDIF()
if (PLUGINS_ENABLE_MARSHALLING)
list(APPEND MARSHALLING_LIBRARIES rtt-marshalling-${OROCOS_TARGET}_plugin)
endif()
IF (NOT APPLE)
LIST(APPEND TEST_LIBRARIES ${Boost_SERIALIZATION_LIBRARY})
ENDIF()
if (PLUGINS_ENABLE_SCRIPTING)
list(APPEND SCRIPTING_LIBRARIES rtt-scripting-${OROCOS_TARGET}_plugin)
endif()
# Due to generation of some .h files in build directories, we also need to include some build dirs in our include paths.
INCLUDE_DIRECTORIES(${PROJ_SOURCE_DIR} ${PROJ_SOURCE_DIR}/rtt ${PROJ_SOURCE_DIR}/rtt/os/${OROCOS_TARGET} )
INCLUDE_DIRECTORIES(${PROJ_BINARY_DIR}/rtt ${PROJ_BINARY_DIR}/rtt/os ${PROJ_BINARY_DIR}/rtt/os/${OROCOS_TARGET} )
INCLUDE_DIRECTORIES(${PROJ_BINARY_DIR}/rtt/marsh ${PROJ_BINARY_DIR}/rtt/scripting )
INCLUDE_DIRECTORIES( ${OROCOS-RTT_INCLUDE_DIRS} )
LINK_DIRECTORIES( ${PROJ_BINARY_DIR}/rtt )
# Setup fixtures library
FILE( GLOB OP_FIXTURES operations_fixture*.cpp datasource_fixture.cpp)
ADD_LIBRARY( fixtures SHARED ${OP_FIXTURES} )
TARGET_LINK_LIBRARIES( fixtures orocos-rtt-${OROCOS_TARGET}_dynamic ${Boost_UNIT_TEST_FRAMEWORK_LIBRARY} rtt-typekit-${OROCOS_TARGET}_plugin )
LIST(APPEND TEST_LIBRARIES fixtures rtt-typekit-${OROCOS_TARGET}_plugin ${OROCOS-RTT_USER_LINK_LIBS} )
SET_TARGET_PROPERTIES( fixtures PROPERTIES
COMPILE_FLAGS "${CMAKE_CXX_FLAGS_ADD}"
DEFINE_SYMBOL "RTT_UNIT_DLL_EXPORT"
SOVERSION "${RTT_VERSION_MAJOR}.${RTT_VERSION_MINOR}"
VERSION "${RTT_VERSION}"
LINK_FLAGS "${CMAKE_LD_FLAGS_ADD}"
# Set accumulated compilation flags: (.so and .a)
COMPILE_DEFINITIONS OROCOS_TARGET=${OROCOS_TARGET}
)
IF (UNIX AND NOT APPLE)
SET_TARGET_PROPERTIES( fixtures PROPERTIES
LINK_FLAGS "-Wl,-z,defs")
ENDIF ()
IF(ENABLE_CORBA)
INCLUDE_DIRECTORIES( ${PROJ_BINARY_DIR}/rtt/transports/corba/ ${CORBA_INCLUDE_DIRS})
LINK_DIRECTORIES( ${PROJ_BINARY_DIR}/rtt/transports/corba/ ${CORBA_LINK_DIRECTORIES})
# Work around unresolved symbols in tests when using CORBA *and* STATIC
IF(BUILD_STATIC)
LINK_LIBRARIES( orocos-rtt-corba-${OROCOS_TARGET} orocos-rtt-${OROCOS_TARGET} orocos-rtt-corba-${OROCOS_TARGET} orocos-rtt-${OROCOS_TARGET})
ENDIF(BUILD_STATIC)
if (NOT OROCOS_TARGET STREQUAL win32)
add_definitions(-D_REENTRANT)
endif()
ENDIF(ENABLE_CORBA)
IF(ENABLE_MQ)
INCLUDE_DIRECTORIES( ${PROJ_BINARY_DIR}/rtt/transports/mqueue/)
LINK_DIRECTORIES( ${PROJ_BINARY_DIR}/rtt/transports/mqueue/)
# Work around unresolved symbols in tests when using MQUEUE *and* STATIC
IF(BUILD_STATIC)
LINK_LIBRARIES( orocos-rtt-mqueue-${OROCOS_TARGET} orocos-rtt-${OROCOS_TARGET} orocos-rtt-mqueue-${OROCOS_TARGET} orocos-rtt-${OROCOS_TARGET})
ENDIF(BUILD_STATIC)
ENDIF(ENABLE_MQ)
# Copy over CPF files. It *must* be done like this to work on MSVC:
add_custom_target(SetupTests ALL
COMMAND ${CMAKE_COMMAND} -E make_directory ${CMAKE_CURRENT_BINARY_DIR}/${CMAKE_CFG_INTDIR}
COMMAND ${CMAKE_COMMAND} -E copy ${CMAKE_CURRENT_SOURCE_DIR}/testPropMarshVectLegacy.cpf ${CMAKE_CURRENT_BINARY_DIR}/${CMAKE_CFG_INTDIR}
COMMAND ${CMAKE_COMMAND} -E copy ${CMAKE_CURRENT_SOURCE_DIR}/property_loading.cpf ${CMAKE_CURRENT_BINARY_DIR}/${CMAKE_CFG_INTDIR})
ADD_EXECUTABLE( main-test test-main.cpp )
TARGET_LINK_LIBRARIES( main-test orocos-rtt-${OROCOS_TARGET}_dynamic ${OROCOS-RTT_USER_LINK_LIBS})
SET_TARGET_PROPERTIES( main-test PROPERTIES
COMPILE_FLAGS "${CMAKE_CXX_FLAGS_ADD}"
LINK_FLAGS "${CMAKE_LD_FLAGS_ADD}"
COMPILE_DEFINITIONS "${COMPILE_DEFS}")
ADD_TEST( main-test ${RUNTIME_OUTPUT_DIRECTORY}/main-test )
if ( ${Boost_VERSION} GREATER 103599 )
ADD_EXECUTABLE( list-test test-runner.cpp listlocked_test.cpp )
TARGET_LINK_LIBRARIES( list-test orocos-rtt-${OROCOS_TARGET}_dynamic ${TEST_LIBRARIES})
SET_TARGET_PROPERTIES( list-test PROPERTIES
COMPILE_FLAGS "${CMAKE_CXX_FLAGS_ADD}"
COMPILE_FLAGS "${CMAKE_CXX_FLAGS_ADD}"
LINK_FLAGS "${CMAKE_LD_FLAGS_ADD}"
COMPILE_DEFINITIONS "${COMPILE_DEFS}")
ADD_TEST( list-test ${RUNTIME_OUTPUT_DIRECTORY}/list-test )
list(APPEND ORO_EXTRA_TESTS "list-test")
endif()
# repeat for each test
ADD_EXECUTABLE( core-test test-runner.cpp logger_test.cpp time_test.cpp ptr_test.cpp )
TARGET_LINK_LIBRARIES( core-test orocos-rtt-${OROCOS_TARGET}_dynamic ${TEST_LIBRARIES})
SET_TARGET_PROPERTIES( core-test PROPERTIES
COMPILE_FLAGS "${CMAKE_CXX_FLAGS_ADD}"
LINK_FLAGS "${CMAKE_LD_FLAGS_ADD}"
COMPILE_DEFINITIONS "${COMPILE_DEFS}")
ADD_TEST( core-test ${RUNTIME_OUTPUT_DIRECTORY}/core-test )
ADD_EXECUTABLE( task-test test-runner.cpp tasks_test.cpp taskthread_test.cpp tasks_multiple_test.cpp )
TARGET_LINK_LIBRARIES( task-test orocos-rtt-${OROCOS_TARGET}_dynamic ${TEST_LIBRARIES})
SET_TARGET_PROPERTIES( task-test PROPERTIES
COMPILE_FLAGS "${CMAKE_CXX_FLAGS_ADD}"
LINK_FLAGS "${CMAKE_LD_FLAGS_ADD}"
COMPILE_DEFINITIONS "${COMPILE_DEFS}")
ADD_TEST( task-test ${RUNTIME_OUTPUT_DIRECTORY}/task-test )
#ADD_EXECUTABLE( taskcontext-test test-runner.cpp generictask_test.cpp generictask_test_3.cpp) # generictask_test_2.cpp
#TARGET_LINK_LIBRARIES( taskcontext-test orocos-rtt-${OROCOS_TARGET}_dynamic ${TEST_LIBRARIES})
#SET_TARGET_PROPERTIES( taskcontext-test PROPERTIES
#COMPILE_FLAGS "${CMAKE_CXX_FLAGS_ADD}"
#LINK_FLAGS "${CMAKE_LD_FLAGS_ADD}"
#COMPILE_DEFINITIONS "${COMPILE_DEFS}")
#ADD_TEST( taskcontext-test ${RUNTIME_OUTPUT_DIRECTORY}/taskcontext-test )
IF(UNIX AND NOT OROCOS_TARGET STREQUAL "xenomai" )
ADD_EXECUTABLE( specactivities-test test-runner.cpp
specialized_activities.cpp)
TARGET_LINK_LIBRARIES( specactivities-test orocos-rtt-${OROCOS_TARGET}_dynamic ${TEST_LIBRARIES})
SET_TARGET_PROPERTIES( specactivities-test PROPERTIES
COMPILE_FLAGS "${CMAKE_CXX_FLAGS_ADD}"
LINK_FLAGS "${CMAKE_LD_FLAGS_ADD}"
COMPILE_DEFINITIONS "${COMPILE_DEFS}")
ADD_TEST( specactivities-test ${RUNTIME_OUTPUT_DIRECTORY}/specactivities-test )
list(APPEND ORO_EXTRA_TESTS "specactivities-test")
ENDIF()
IF(ENABLE_CORBA)
ADD_EXECUTABLE( corba-test test-runner-corba.cpp corba_test.cpp )
TARGET_LINK_LIBRARIES( corba-test
orocos-rtt-${OROCOS_TARGET}_dynamic
orocos-rtt-corba-${OROCOS_TARGET}_dynamic
${CORBA_LIBRARIES} ${TEST_LIBRARIES})
SET_TARGET_PROPERTIES( corba-test PROPERTIES
COMPILE_FLAGS "${CMAKE_CXX_FLAGS_ADD}"
LINK_FLAGS "${CMAKE_LD_FLAGS_ADD}"
COMPILE_DEFINITIONS "${COMPILE_DEFS}"
)
ADD_TEST( corba-test ${RUNTIME_OUTPUT_DIRECTORY}/corba-test )
list(APPEND ORO_EXTRA_TESTS "corba-test")
# This program requires the Unix 'system()' function and 'killall'. To be ported to windows.
IF (UNIX)
# Launches our servers.
ADD_EXECUTABLE(setup_corba setup_corba.cpp)
SET_TARGET_PROPERTIES( setup_corba PROPERTIES
COMPILE_DEFINITIONS "${COMPILE_DEFS}"
)
# Launched before ctest.
SET(CORBA_SETUP_COMMAND COMMAND setup_corba)
ENDIF(UNIX)
ADD_EXECUTABLE( corba-ipc-test test-runner-corba.cpp corba_ipc_test.cpp )
TARGET_LINK_LIBRARIES( corba-ipc-test
orocos-rtt-${OROCOS_TARGET}_dynamic
orocos-rtt-corba-${OROCOS_TARGET}_dynamic
${CORBA_LIBRARIES} ${TEST_LIBRARIES})
SET_TARGET_PROPERTIES( corba-ipc-test PROPERTIES
COMPILE_FLAGS "${CMAKE_CXX_FLAGS_ADD}"
LINK_FLAGS "${CMAKE_LD_FLAGS_ADD}"
COMPILE_DEFINITIONS "${COMPILE_DEFS}"
)
ADD_TEST( corba-ipc-test ${RUNTIME_OUTPUT_DIRECTORY}/corba-ipc-test )
list(APPEND ORO_EXTRA_TESTS "corba-ipc-test")
# This server is required to run when the corba-ipc-test runs
ADD_EXECUTABLE( corba-ipc-server corba_ipc_server.cpp )
TARGET_LINK_LIBRARIES( corba-ipc-server
orocos-rtt-${OROCOS_TARGET}_dynamic
orocos-rtt-corba-${OROCOS_TARGET}_dynamic
${CORBA_LIBRARIES} ${TEST_LIBRARIES})
SET_TARGET_PROPERTIES( corba-ipc-server PROPERTIES
COMPILE_FLAGS "${CMAKE_CXX_FLAGS_ADD}"
LINK_FLAGS "${CMAKE_LD_FLAGS_ADD}"
COMPILE_DEFINITIONS "${COMPILE_DEFS}"
)
ADD_SIMPLE_TEST(test-corba-main ORO_EXTRA_TESTS "orocos-rtt-corba-${OROCOS_TARGET}_dynamic" )
ENDIF(ENABLE_CORBA)
IF(ENABLE_MQ)
ADD_EXECUTABLE( mqueue-test test-runner.cpp mqueue_test.cpp )
TARGET_LINK_LIBRARIES( mqueue-test orocos-rtt-${OROCOS_TARGET}_dynamic
orocos-rtt-mqueue-${OROCOS_TARGET}_dynamic ${TEST_LIBRARIES})
SET_TARGET_PROPERTIES( mqueue-test PROPERTIES
COMPILE_FLAGS "${CMAKE_CXX_FLAGS_ADD}"
LINK_FLAGS "${CMAKE_LD_FLAGS_ADD}"
COMPILE_DEFINITIONS "${COMPILE_DEFS}")
ADD_TEST( mqueue-test ${RUNTIME_OUTPUT_DIRECTORY}/mqueue-test )
list(APPEND ORO_EXTRA_TESTS "mqueue-test")
ADD_UNIT_TEST(mqueue_archive_test ORO_EXTRA_TESTS "${TEST_LIBRARIES}")
ENDIF(ENABLE_MQ)
IF(ENABLE_MQ AND ENABLE_CORBA)
ADD_EXECUTABLE( corba-mqueue-test test-runner-corba.cpp corba_mqueue_test.cpp )
TARGET_LINK_LIBRARIES( corba-mqueue-test orocos-rtt-${OROCOS_TARGET}_dynamic
orocos-rtt-mqueue-${OROCOS_TARGET}_dynamic orocos-rtt-corba-${OROCOS_TARGET}_dynamic
${CORBA_LIBRARIES} ${TEST_LIBRARIES})
SET_TARGET_PROPERTIES( corba-mqueue-test PROPERTIES
COMPILE_FLAGS "${CMAKE_CXX_FLAGS_ADD}"
LINK_FLAGS "${CMAKE_LD_FLAGS_ADD}"
COMPILE_DEFINITIONS "${COMPILE_DEFS}")
ADD_TEST( corba-mqueue-test ${RUNTIME_OUTPUT_DIRECTORY}/corba-mqueue-test )
list(APPEND ORO_EXTRA_TESTS "corba-mqueue-test")
# These tests require the Unix 'system()' function and 'killall'. To be ported to windows.
IF (UNIX)
ADD_EXECUTABLE( corba-mqueue-ipc-test test-runner-corba.cpp corba_mqueue_ipc_test.cpp )
TARGET_LINK_LIBRARIES( corba-mqueue-ipc-test
orocos-rtt-${OROCOS_TARGET}_dynamic
orocos-rtt-mqueue-${OROCOS_TARGET}_dynamic
orocos-rtt-corba-${OROCOS_TARGET}_dynamic
${CORBA_LIBRARIES} ${TEST_LIBRARIES})
SET_TARGET_PROPERTIES( corba-mqueue-ipc-test PROPERTIES
COMPILE_FLAGS "${CMAKE_CXX_FLAGS_ADD}"
LINK_FLAGS "${CMAKE_LD_FLAGS_ADD}"
COMPILE_DEFINITIONS "${COMPILE_DEFS}"
)
ADD_TEST( corba-mqueue-ipc-test ${RUNTIME_OUTPUT_DIRECTORY}/corba-mqueue-ipc-test )
list(APPEND ORO_EXTRA_TESTS "corba-mqueue-ipc-test")
# This server is required to run when the corba-mqueue-ipc-test runs
ADD_EXECUTABLE( corba-mqueue-ipc-server corba_mqueue_ipc_server.cpp )
TARGET_LINK_LIBRARIES( corba-mqueue-ipc-server
orocos-rtt-${OROCOS_TARGET}_dynamic
orocos-rtt-mqueue-${OROCOS_TARGET}_dynamic
orocos-rtt-corba-${OROCOS_TARGET}_dynamic
${CORBA_LIBRARIES} ${TEST_LIBRARIES})
SET_TARGET_PROPERTIES( corba-mqueue-ipc-server PROPERTIES
COMPILE_FLAGS "${CMAKE_CXX_FLAGS_ADD}"
LINK_FLAGS "${CMAKE_LD_FLAGS_ADD}"
COMPILE_DEFINITIONS "${COMPILE_DEFS}"
)
ENDIF()
ENDIF(ENABLE_MQ AND ENABLE_CORBA)
if( TESTS_OS_NO_ASM )
else()
ADD_UNIT_TEST(buffers_test ORO_EXTRA_TESTS "${TEST_LIBRARIES}")
endif()
ADD_UNIT_TEST(method_test ORO_EXTRA_TESTS "fixtures" )
if (ORO_REMOTING)
ADD_UNIT_TEST(remote_method_test ORO_EXTRA_TESTS "${TEST_LIBRARIES}" )
endif()
ADD_UNIT_TEST(functors_test ORO_EXTRA_TESTS "${TEST_LIBRARIES}" )
ADD_UNIT_TEST(service_test ORO_EXTRA_TESTS "fixtures" )
ADD_UNIT_TEST(service_port_test ORO_EXTRA_TESTS "fixtures" )
ADD_UNIT_TEST(event_test ORO_EXTRA_TESTS "${TEST_LIBRARIES}" )
ADD_UNIT_TEST(operation_test ORO_EXTRA_TESTS "${TEST_LIBRARIES}" )
ADD_UNIT_TEST(taskstates_test ORO_EXTRA_TESTS "${TEST_LIBRARIES}" )
ADD_UNIT_TEST(ports_test ORO_EXTRA_TESTS "${TEST_LIBRARIES}" )
ADD_UNIT_TEST(configuration_test ORO_EXTRA_TESTS "${TEST_LIBRARIES}" )
ADD_UNIT_TEST(dev_test ORO_EXTRA_TESTS "${TEST_LIBRARIES}" )
if(PLUGINS_ENABLE_SCRIPTING)
ADD_UNIT_TEST(scripting_test ORO_EXTRA_TESTS "${TEST_LIBRARIES};${SCRIPTING_LIBRARIES}" )
ADD_UNIT_TEST(types_test ORO_EXTRA_TESTS "${TEST_LIBRARIES};${SCRIPTING_LIBRARIES}" )
ADD_UNIT_TEST(program_test ORO_EXTRA_TESTS "${TEST_LIBRARIES};${SCRIPTING_LIBRARIES}" )
ADD_UNIT_TEST(state_test ORO_EXTRA_TESTS "${TEST_LIBRARIES};${SCRIPTING_LIBRARIES}" )
if(OS_RT_MALLOC)
ADD_UNIT_TEST(rtstring_test ORO_EXTRA_TESTS "${TEST_LIBRARIES};${SCRIPTING_LIBRARIES}" )
endif(OS_RT_MALLOC)
ADD_UNIT_TEST(function_test ORO_EXTRA_TESTS "${TEST_LIBRARIES};${SCRIPTING_LIBRARIES}" )
endif()
if(PLUGINS_ENABLE_MARSHALLING)
ADD_UNIT_TEST(enum_type_test ORO_EXTRA_TESTS "${TEST_LIBRARIES};${MARSHALLING_LIBRARIES}")
ADD_UNIT_TEST(enum_string_type_test ORO_EXTRA_TESTS "${TEST_LIBRARIES};${MARSHALLING_LIBRARIES}")
ADD_UNIT_TEST(marshalling_test ORO_EXTRA_TESTS "${TEST_LIBRARIES};${MARSHALLING_LIBRARIES}" )
ADD_UNIT_TEST(property_loader_test ORO_EXTRA_TESTS "${TEST_LIBRARIES};${MARSHALLING_LIBRARIES}" )
ADD_UNIT_TEST(property_marsh_test ORO_EXTRA_TESTS "${TEST_LIBRARIES};${MARSHALLING_LIBRARIES}" )
endif()
ADD_UNIT_TEST(property_test ORO_EXTRA_TESTS "${TEST_LIBRARIES}" )
ADD_UNIT_TEST(property_composition_test ORO_EXTRA_TESTS "${TEST_LIBRARIES}" )
ADD_UNIT_TEST(type_discovery_test ORO_EXTRA_TESTS "${TEST_LIBRARIES}" )
ADD_UNIT_TEST(type_discovery_struct_test ORO_EXTRA_TESTS "fixtures;${TEST_LIBRARIES}" )
ADD_UNIT_TEST(type_discovery_container_test ORO_EXTRA_TESTS "${TEST_LIBRARIES}" )
ADD_UNIT_TEST(datasource_test ORO_EXTRA_TESTS "fixtures;${TEST_LIBRARIES}")
ADD_UNIT_TEST(typekit_test ORO_EXTRA_TESTS "${TEST_LIBRARIES}" )
if(PLUGINS_ENABLE)
ADD_UNIT_TEST(plugins_test ORO_EXTRA_TESTS "${TEST_LIBRARIES}" )
ADD_SUBDIRECTORY(testproject/plugins)
ADD_SUBDIRECTORY(testproject/types)
ADD_SUBDIRECTORY(testtypes/types)
endif()
IF(ENABLE_CORBA AND UNIX)
#This test must be last: it stops the corba servers (on Unix systems)
ADD_SIMPLE_TEST(cleanup_corba ORO_EXTRA_TESTS "")
ENDIF(ENABLE_CORBA AND UNIX)
# link to root build dir, to pick up CTest options when run from this dir
EXECUTE_PROCESS(COMMAND ${CMAKE_COMMAND} -E create_symlink
${CMAKE_BINARY_DIR}/DartConfiguration.tcl
${CMAKE_CURRENT_BINARY_DIR}/DartConfiguration.tcl)
ADD_CUSTOM_TARGET(check ${CMAKE_COMMAND} -E remove *.tst core *.ior orocos.log
${CORBA_SETUP_COMMAND}
COMMAND ctest -V
DEPENDS main-test core-test task-test ${ORO_EXTRA_TESTS}
WORKING_DIRECTORY "${RUNTIME_OUTPUT_DIRECTORY}")
#ADD_DEPENDENCIES(check prep-cpf)
ENDIF()