cmake: Enable googletest unit tests (#1720)

Also don't inherit compile warnings from wpiutil There's not a good way to disable inherited compiler flags.
2026-06-19 00:41:43 +00:00 · 2019-06-23 12:44:28 -07:00
parent 223d47af0e
commit 372ca4f456
11 changed files with 140 additions and 11 deletions
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -48,6 +48,7 @@ option(WITHOUT_JAVA "don't include java and JNI in the build" OFF)
 option(BUILD_SHARED_LIBS "build with shared libs (needed for JNI)" ON)
 option(WITHOUT_CSCORE "Don't build cscore (removes OpenCV requirement)" OFF)
 option(WITHOUT_ALLWPILIB "Don't build allwpilib (removes OpenCV requirement)" ON)
+option(WITH_TESTS "build unit tests (requires internet connection)" OFF)
 option(USE_EXTERNAL_HAL "Use a separately built HAL" OFF)
 set(EXTERNAL_HAL_FILE "" CACHE FILEPATH "Location to look for an external HAL CMake File")
 option(USE_VCPKG_LIBUV "Use vcpkg libuv" OFF)
@@ -96,6 +97,12 @@ endif()
 set(FILENAME_DEP_REPLACE "get_filename_component(SELF_DIR \"$\{CMAKE_CURRENT_LIST_FILE\}\" PATH)")
 set(SELF_DIR "$\{SELF_DIR\}")

+if (WITH_TESTS)
+    enable_testing()
+    add_subdirectory(googletest)
+    include(GoogleTest)
+endif()
+
 add_subdirectory(wpiutil)
 add_subdirectory(ntcore)

--- a/cameraserver/CMakeLists.txt
+++ b/cameraserver/CMakeLists.txt
@@ -1,5 +1,8 @@
 project(cameraserver)

+include(CompileWarnings)
+include(AddTest)
+
 find_package( OpenCV REQUIRED )

 # Java bindings
@@ -32,6 +35,7 @@ set_target_properties(cameraserver PROPERTIES DEBUG_POSTFIX "d")
 target_include_directories(cameraserver PUBLIC
                $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/include>
                            $<INSTALL_INTERFACE:${include_dest}/cameraserver>)
+wpilib_target_warnings(cameraserver)
 target_link_libraries(cameraserver PUBLIC ntcore cscore wpiutil ${OpenCV_LIBS})

 set_property(TARGET cameraserver PROPERTY FOLDER "libraries")
@@ -55,6 +59,12 @@ install(EXPORT cameraserver DESTINATION ${cameraserver_config_dir})

 file(GLOB multiCameraServer_src multiCameraServer/src/main/native/cpp/*.cpp)
 add_executable(multiCameraServer ${multiCameraServer_src})
+wpilib_target_warnings(multiCameraServer)
 target_link_libraries(multiCameraServer cameraserver)

 set_property(TARGET multiCameraServer PROPERTY FOLDER "examples")
+
+if (WITH_TESTS)
+    wpilib_add_test(cameraserver src/test/native/cpp)
+    target_link_libraries(cameraserver_test cameraserver gtest)
+endif()
--- a/cmake/modules/AddTest.cmake
+++ b/cmake/modules/AddTest.cmake
@@ -0,0 +1,14 @@
+include(CompileWarnings)
+
+macro(wpilib_add_test name srcdir)
+    file(GLOB_RECURSE test_src ${srcdir}/*.cpp)
+    add_executable(${name}_test ${test_src})
+    wpilib_target_warnings(${name}_test)
+    if (BUILD_SHARED_LIBS)
+        target_compile_definitions(${name}_test PRIVATE -DGTEST_LINKED_AS_SHARED_LIBRARY)
+    endif()
+    if (MSVC)
+        target_compile_options(${name}_test PRIVATE /wd4251 /wd4101)
+    endif()
+    add_test(NAME ${name} COMMAND ${name}_test)
+endmacro()
--- a/cmake/modules/CompileWarnings.cmake
+++ b/cmake/modules/CompileWarnings.cmake
@@ -0,0 +1,7 @@
+macro(wpilib_target_warnings target)
+    if(NOT MSVC)
+        target_compile_options(${target} PRIVATE -Wall -pedantic -Wextra -Werror -Wno-unused-parameter)
+    else()
+        target_compile_options(${target} PRIVATE /wd4244 /wd4267 /wd4146 /WX /wd4996)
+    endif()
+endmacro()
--- a/cscore/CMakeLists.txt
+++ b/cscore/CMakeLists.txt
@@ -1,6 +1,8 @@
 project(cscore)

 include(SubDirList)
+include(CompileWarnings)
+include(AddTest)

 find_package( OpenCV REQUIRED )

@@ -21,14 +23,15 @@ if(NOT MSVC)
    endif()
 else()
    target_sources(cscore PRIVATE ${cscore_windows_src})
-    target_compile_options(cscore PUBLIC -DNOMINMAX)
-    target_compile_options(cscore PRIVATE -D_CRT_SECURE_NO_WARNINGS)
+    target_compile_definitions(cscore PUBLIC -DNOMINMAX)
+    target_compile_definitions(cscore PRIVATE -D_CRT_SECURE_NO_WARNINGS)
 endif()

 target_include_directories(cscore PUBLIC
                $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/include>
                            $<INSTALL_INTERFACE:${include_dest}/cscore>)
 target_include_directories(cscore PRIVATE src/main/native/cpp)
+wpilib_target_warnings(cscore)
 target_link_libraries(cscore PUBLIC wpiutil ${OpenCV_LIBS})

 set_property(TARGET cscore PROPERTY FOLDER "libraries")
@@ -51,6 +54,7 @@ foreach(example ${cscore_examples})
    file(GLOB cscore_example_src examples/${example}/*.cpp)
    if(cscore_example_src)
        add_executable(cscore_${example} ${cscore_example_src})
+        wpilib_target_warnings(cscore_${example})
        target_link_libraries(cscore_${example} cscore)
        set_property(TARGET cscore_${example} PROPERTY FOLDER "examples")
    endif()
@@ -103,6 +107,7 @@ if (NOT WITHOUT_JAVA)
    set_property(TARGET cscore_jar PROPERTY FOLDER "java")

    add_library(cscorejni ${cscore_jni_src})
+    wpilib_target_warnings(cscorejni)
    target_link_libraries(cscorejni PUBLIC cscore wpiutil ${OpenCV_LIBS})

    set_property(TARGET cscorejni PROPERTY FOLDER "libraries")
@@ -122,3 +127,8 @@ if (NOT WITHOUT_JAVA)
    install(TARGETS cscorejni EXPORT cscorejni DESTINATION "${main_lib_dest}")

 endif()
+
+if (WITH_TESTS)
+    wpilib_add_test(cscore src/test/native/cpp)
+    target_link_libraries(cscore_test cscore gmock)
+endif()
--- a/googletest/CMakeLists.txt
+++ b/googletest/CMakeLists.txt
@@ -0,0 +1,24 @@
+# Download and unpack googletest at configure time
+configure_file(CMakeLists.txt.in googletest-download/CMakeLists.txt)
+execute_process(COMMAND ${CMAKE_COMMAND} -G "${CMAKE_GENERATOR}" .
+  RESULT_VARIABLE result
+  WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/googletest-download )
+if(result)
+  message(FATAL_ERROR "CMake step for googletest failed: ${result}")
+endif()
+execute_process(COMMAND ${CMAKE_COMMAND} --build .
+  RESULT_VARIABLE result
+  WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/googletest-download )
+if(result)
+  message(FATAL_ERROR "Build step for googletest failed: ${result}")
+endif()
+
+# Prevent overriding the parent project's compiler/linker
+# settings on Windows
+set(gtest_force_shared_crt ON CACHE BOOL "" FORCE)
+
+# Add googletest directly to our build. This defines
+# the gtest and gtest_main targets.
+add_subdirectory(${CMAKE_CURRENT_BINARY_DIR}/googletest-src
+                 ${CMAKE_CURRENT_BINARY_DIR}/googletest-build
+                 EXCLUDE_FROM_ALL)
--- a/googletest/CMakeLists.txt.in
+++ b/googletest/CMakeLists.txt.in
@@ -0,0 +1,15 @@
+cmake_minimum_required(VERSION 2.8.2)
+
+project(googletest-download NONE)
+
+include(ExternalProject)
+ExternalProject_Add(googletest
+  GIT_REPOSITORY    https://github.com/google/googletest.git
+  GIT_TAG           b4676595c03a26bb84f68542c8b74d3d89b38b68
+  SOURCE_DIR        "${CMAKE_CURRENT_BINARY_DIR}/googletest-src"
+  BINARY_DIR        "${CMAKE_CURRENT_BINARY_DIR}/googletest-build"
+  CONFIGURE_COMMAND ""
+  BUILD_COMMAND     ""
+  INSTALL_COMMAND   ""
+  TEST_COMMAND      ""
+)
--- a/hal/CMakeLists.txt
+++ b/hal/CMakeLists.txt
@@ -1,5 +1,7 @@
 project(hal)

+include(CompileWarnings)
+include(AddTest)

 file(STRINGS src/generate/Instances.txt RAW_INSTANCES)
 file(STRINGS src/generate/ResourceType.txt RAW_RESOURCE_TYPES)
@@ -28,6 +30,7 @@ file(GLOB
    hal_sim_native_src src/main/native/sim/*.cpp
    hal_sim_native_src src/main/native/sim/mockdata/*.cpp)
 add_library(hal ${hal_shared_native_src})
+wpilib_target_warnings(hal)
 set_target_properties(hal PROPERTIES DEBUG_POSTFIX "d")

 if(USE_EXTERNAL_HAL)
@@ -105,6 +108,7 @@ if (NOT WITHOUT_JAVA)

    set_target_properties(haljni PROPERTIES OUTPUT_NAME "wpiHaljni")

+    wpilib_target_warnings(haljni)
    target_link_libraries(haljni PUBLIC hal wpiutil)

    set_property(TARGET haljni PROPERTY FOLDER "libraries")
@@ -124,3 +128,8 @@ if (NOT WITHOUT_JAVA)
    install(TARGETS haljni EXPORT haljni DESTINATION "${main_lib_dest}")

 endif()
+
+if (WITH_TESTS)
+    wpilib_add_test(hal src/test/native/cpp)
+    target_link_libraries(hal_test hal gtest)
+endif()
--- a/ntcore/CMakeLists.txt
+++ b/ntcore/CMakeLists.txt
@@ -1,5 +1,8 @@
 project(ntcore)

+include(CompileWarnings)
+include(AddTest)
+
 file(GLOB
    ntcore_native_src src/main/native/cpp/*.cpp
    ntcore_native_src src/main/native/cpp/networktables/*.cpp
@@ -9,6 +12,7 @@ set_target_properties(ntcore PROPERTIES DEBUG_POSTFIX "d")
 target_include_directories(ntcore PUBLIC
                $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/include>
                            $<INSTALL_INTERFACE:${include_dest}/ntcore>)
+wpilib_target_warnings(ntcore)
 target_link_libraries(ntcore PUBLIC wpiutil)

 set_property(TARGET ntcore PROPERTY FOLDER "libraries")
@@ -52,6 +56,7 @@ if (NOT WITHOUT_JAVA)
    set_property(TARGET ntcore_jar PROPERTY FOLDER "java")

    add_library(ntcorejni ${ntcore_jni_src})
+    wpilib_target_warnings(ntcorejni)
    target_link_libraries(ntcorejni PUBLIC ntcore wpiutil)

    set_property(TARGET ntcorejni PROPERTY FOLDER "libraries")
@@ -71,3 +76,9 @@ if (NOT WITHOUT_JAVA)
    install(TARGETS ntcorejni EXPORT ntcorejni DESTINATION "${main_lib_dest}")

 endif()
+
+if (WITH_TESTS)
+    wpilib_add_test(ntcore src/test/native/cpp)
+    target_include_directories(ntcore_test PRIVATE src/main/native/cpp)
+    target_link_libraries(ntcore_test ntcore gmock_main)
+endif()
--- a/wpilibc/CMakeLists.txt
+++ b/wpilibc/CMakeLists.txt
@@ -1,5 +1,8 @@
 project(wpilibc)

+include(CompileWarnings)
+include(AddTest)
+
 find_package( OpenCV REQUIRED )

 configure_file(src/generate/WPILibVersion.cpp.in WPILibVersion.cpp)
@@ -13,6 +16,7 @@ set_target_properties(wpilibc PROPERTIES DEBUG_POSTFIX "d")
 target_include_directories(wpilibc PUBLIC
                $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/include>
                            $<INSTALL_INTERFACE:${include_dest}/wpilibc>)
+wpilib_target_warnings(wpilibc)
 target_link_libraries(wpilibc PUBLIC cameraserver hal ntcore cscore wpiutil ${OpenCV_LIBS})

 set_property(TARGET wpilibc PROPERTY FOLDER "libraries")
@@ -29,3 +33,14 @@ endif()
 configure_file(wpilibc-config.cmake.in ${CMAKE_BINARY_DIR}/wpilibc-config.cmake )
 install(FILES ${CMAKE_BINARY_DIR}/wpilibc-config.cmake DESTINATION ${wpilibc_config_dir})
 install(EXPORT wpilibc DESTINATION ${wpilibc_config_dir})
+
+if (WITH_TESTS)
+    wpilib_add_test(wpilibc src/test/native/cpp)
+    target_include_directories(wpilibc_test PRIVATE src/test/native/include)
+    target_link_libraries(wpilibc_test wpilibc gmock_main)
+    if (NOT MSVC)
+        target_compile_options(wpilibc_test PRIVATE -Wno-error)
+    else()
+        target_compile_options(wpilibc_test PRIVATE /WX-)
+    endif()
+endif()
--- a/wpiutil/CMakeLists.txt
+++ b/wpiutil/CMakeLists.txt
@@ -2,6 +2,8 @@ project(wpiutil)

 include(SubDirList)
 include(GenResources)
+include(CompileWarnings)
+include(AddTest)

 # Java bindings
 if (NOT WITHOUT_JAVA)
@@ -78,14 +80,11 @@ set_target_properties(wpiutil PROPERTIES DEBUG_POSTFIX "d")
 set_property(TARGET wpiutil PROPERTY FOLDER "libraries")

 target_compile_features(wpiutil PUBLIC cxx_std_17)
-if (NOT MSVC)
-    target_compile_options(wpiutil PUBLIC $<BUILD_INTERFACE:-Wall -pedantic -Wextra -Werror -Wno-unused-parameter>)
-else()
-    target_compile_options(wpiutil PUBLIC /wd4244 /wd4267 /wd4146)
-    target_compile_options(wpiutil PUBLIC $<BUILD_INTERFACE:/WX /wd4996 /permissive- /Zc:throwingNew>)
-    target_compile_options(wpiutil PRIVATE -D_CRT_SECURE_NO_WARNINGS)
+if (MSVC)
+    target_compile_options(wpiutil PUBLIC /permissive- /Zc:throwingNew)
+    target_compile_definitions(wpiutil PRIVATE -D_CRT_SECURE_NO_WARNINGS)
 endif()
-
+wpilib_target_warnings(wpiutil)
 target_link_libraries(wpiutil Threads::Threads ${CMAKE_DL_LIBS})

 if (NOT USE_VCPKG_LIBUV)
@@ -103,11 +102,11 @@ if (NOT USE_VCPKG_LIBUV)
        else()
            target_sources(wpiutil PRIVATE ${uv_linux_src})
        endif()
-        target_compile_options(wpiutil PRIVATE -D_GNU_SOURCE)
+        target_compile_definitions(wpiutil PRIVATE -D_GNU_SOURCE)
    else()
        target_sources(wpiutil PRIVATE ${uv_windows_src})
        if(BUILD_SHARED_LIBS)
-            target_compile_options(wpiutil PRIVATE -DBUILDING_UV_SHARED)
+            target_compile_definitions(wpiutil PRIVATE -DBUILDING_UV_SHARED)
        endif()
    endif()
 else()
@@ -141,6 +140,7 @@ foreach(example ${wpiutil_examples})
    file(GLOB wpiutil_example_src examples/${example}/*.cpp)
    if(wpiutil_example_src)
        add_executable(wpiutil_${example} ${wpiutil_example_src})
+        wpilib_target_warnings(wpiutil_${example})
        target_link_libraries(wpiutil_${example} wpiutil)
        set_property(TARGET wpiutil_${example} PROPERTY FOLDER "examples")
    endif()
@@ -154,11 +154,18 @@ endif()

 file(GLOB netconsoleServer_src src/netconsoleServer/native/cpp/*.cpp)
 add_executable(netconsoleServer ${netconsoleServer_src})
+wpilib_target_warnings(netconsoleServer)
 target_link_libraries(netconsoleServer wpiutil ${LIBUTIL})

 file(GLOB netconsoleTee_src src/netconsoleTee/native/cpp/*.cpp)
 add_executable(netconsoleTee ${netconsoleTee_src})
+wpilib_target_warnings(netconsoleTee)
 target_link_libraries(netconsoleTee wpiutil)

 set_property(TARGET netconsoleServer PROPERTY FOLDER "examples")
 set_property(TARGET netconsoleTee PROPERTY FOLDER "examples")
+
+if (WITH_TESTS)
+    wpilib_add_test(wpiutil src/test/native/cpp)
+    target_link_libraries(wpiutil_test wpiutil ${LIBUTIL} gmock_main)
+endif()