[build] Add unit-testing infrastructure to examples (#2863)

This also adds CMake capabilities to the command-based libraries as well
as wpilibExamples.

CMakeLists.txt

@@ -48,6 +48,8 @@ option(WITH_JAVA "Include java and JNI in the build" ON)
 option(WITH_CSCORE "Build cscore (needs OpenCV)" ON)
 option(WITH_WPIMATH "Build wpimath" ON)
 option(WITH_WPILIB "Build hal, wpilibc/j, and myRobot (needs OpenCV)" ON)
+option(WITH_OLD_COMMANDS "Build old commands" OFF)
+option(WITH_EXAMPLES "Build examples" OFF)
 option(WITH_TESTS "Build unit tests (requires internet connection)" ON)
 option(WITH_GUI "Build GUI items" ON)
 option(WITH_SIMULATION_MODULES "Build simulation modules" ON)
@@ -116,6 +118,13 @@ FATAL: Cannot build wpilib without wpimath.
 ")
 endif()
 
+if (NOT WITH_OLD_COMMANDS AND WITH_EXAMPLES)
+    message(FATAL_ERROR "
+FATAL: Cannot build examples with old commands disabled.
+       Enable old commands by setting WITH_OLD_COMMANDS=ON
+")
+endif()
+
 set( wpilib_dest wpilib)
 set( include_dest wpilib/include )
 set( main_lib_dest wpilib/lib )
@@ -144,6 +153,8 @@ set(CAMERASERVER_DEP_REPLACE_IMPL "include(\${SELF_DIR}/cameraserver-config.cmak
 set(HAL_DEP_REPLACE_IMPL "include(\${SELF_DIR}/hal-config.cmake)")
 set(WPIMATH_DEP_REPLACE "include($\{SELF_DIR\}/wpimath-config.cmake)")
 set(WPILIBC_DEP_REPLACE_IMPL "include(\${SELF_DIR}/wpilibc-config.cmake)")
+set(WPILIBNEWCOMMANDS_DEP_REPLACE "include(\${SELF_DIR}/wpilibNewcommands-config.cmake)")
+set(WPILIBOLDCOMMANDS_DEP_REPLACE "include(\${SELF_DIR}/wpilibOldcommands-config.cmake)")
 else()
 set(WPIUTIL_DEP_REPLACE "find_dependency(wpiutil)")
 set(NTCORE_DEP_REPLACE "find_dependency(ntcore)")
@@ -152,6 +163,8 @@ set(CAMERASERVER_DEP_REPLACE_IMPL "find_dependency(cameraserver)")
 set(HAL_DEP_REPLACE_IMPL "find_dependency(hal)")
 set(WPIMATH_DEP_REPLACE "find_dependency(wpimath)")
 set(WPILIBC_DEP_REPLACE_IMPL "find_dependency(wpilibc)")
+set(WPILIBNEWCOMMANDS_DEP_REPLACE "find_dependency(wpilibNewCommands)")
+set(WPILIBOLDCOMMANDS_DEP_REPLACE "find_dependency(wpilibOldCommands)")
 endif()
 
 set(FILENAME_DEP_REPLACE "get_filename_component(SELF_DIR \"$\{CMAKE_CURRENT_LIST_FILE\}\" PATH)")
@@ -186,6 +199,13 @@ if (WITH_CSCORE)
         add_subdirectory(hal)
         add_subdirectory(wpilibj)
         add_subdirectory(wpilibc)
+        add_subdirectory(wpilibNewCommands)
+        if (WITH_OLD_COMMANDS)
+            add_subdirectory(wpilibOldCommands)
+        endif()
+        if (WITH_EXAMPLES)
+            add_subdirectory(wpilibcExamples)
+        endif()
         add_subdirectory(myRobot)
     endif()
 endif()

wpilibNewCommands/CMakeLists.txt

@@ -0,0 +1,59 @@
+project(wpilibNewCommands)
+
+include(SubDirList)
+include(CompileWarnings)
+include(AddTest)
+
+if (WITH_JAVA)
+  find_package(Java REQUIRED)
+  include(UseJava)
+  set(CMAKE_JAVA_COMPILE_FLAGS "-Xlint:unchecked")
+
+  file(GLOB_RECURSE JAVA_SOURCES src/main/java/*.java)
+  add_jar(wpilibNewCommands_jar ${JAVA_SOURCES} INCLUDE_JARS hal_jar ntcore_jar cscore_jar cameraserver_jar wpimath_jar wpiutil_jar wpilibj_jar OUTPUT_NAME wpilibNewCommands)
+
+  get_property(WPILIBNEWCOMMANDS_JAR_FILE TARGET wpilibNewCommands_jar PROPERTY JAR_FILE)
+  install(FILES ${WPILIBNEWCOMMANDS_JAR_FILE} DESTINATION "${java_lib_dest}")
+
+  set_property(TARGET wpilibNewCommands_jar PROPERTY FOLDER "java")
+
+  if (WITH_FLAT_INSTALL)
+      set (wpilibNewCommands_config_dir ${wpilib_dest})
+  else()
+      set (wpilibNewCommands_config_dir share/wpilibNewCommands)
+  endif()
+
+  install(FILES wpilibNewCommands-config.cmake DESTINATION ${wpilibNewCommands_config_dir})
+endif()
+
+file(GLOB_RECURSE wpilibNewCommands_native_src src/main/native/cpp/*.cpp)
+add_library(wpilibNewCommands ${wpilibNewCommands_native_src})
+set_target_properties(wpilibNewCommands PROPERTIES DEBUG_POSTFIX "d")
+set_property(TARGET wpilibNewCommands PROPERTY FOLDER "libraries")
+
+target_compile_features(wpilibNewCommands PUBLIC cxx_std_17)
+wpilib_target_warnings(wpilibNewCommands)
+target_link_libraries(wpilibNewCommands wpilibc)
+
+target_include_directories(wpilibNewCommands PUBLIC
+                            $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/include>
+                            $<INSTALL_INTERFACE:${include_dest}/wpilibNewCommands>)
+
+install(TARGETS wpilibNewCommands EXPORT wpilibNewCommands DESTINATION "${main_lib_dest}")
+install(DIRECTORY src/main/native/include/ DESTINATION "${include_dest}/wpilibNewCommands")
+
+if (MSVC OR FLAT_INSTALL_WPILIB)
+     set(wpilibNewCommands_config_dir ${wpilib_dest})
+ else()
+     set(wpilibNewCommands_config_dir share/wpilibNewCommands)
+ endif()
+
+ configure_file(wpilibNewCommands-config.cmake.in ${WPILIB_BINARY_DIR}/wpilibNewCommands-config.cmake)
+ install(FILES ${WPILIB_BINARY_DIR}/wpilibNewCommands-config.cmake DESTINATION ${wpilibNewCommands_config_dir})
+ install(EXPORT wpilibNewCommands DESTINATION ${wpilibNewCommands_config_dir})
+
+ if (WITH_TESTS)
+     wpilib_add_test(wpilibNewCommands src/test/native/cpp)
+     target_include_directories(wpilibNewCommands_test PRIVATE src/test/native/include)
+     target_link_libraries(wpilibNewCommands_test wpilibNewCommands gmock_main)
+ endif()

wpilibNewCommands/wpilibNewCommands-config.cmake.in

@@ -0,0 +1,11 @@
+include(CMakeFindDependencyMacro)
+ @FILENAME_DEP_REPLACE@
+ @WPIUTIL_DEP_REPLACE@
+ @NTCORE_DEP_REPLACE@
+ @CSCORE_DEP_REPLACE@
+ @CAMERASERVER_DEP_REPLACE@
+ @HAL_DEP_REPLACE@
+ @WPILIBC_DEP_REPLACE@
+ @WPIMATH_DEP_REPLACE@
+
+ include(${SELF_DIR}/wpilibNewCommands.cmake)

wpilibOldCommands/CMakeLists.txt

@@ -0,0 +1,59 @@
+project(wpilibOldCommands)
+
+include(SubDirList)
+include(CompileWarnings)
+include(AddTest)
+
+if (WITH_JAVA)
+  find_package(Java REQUIRED)
+  include(UseJava)
+  set(CMAKE_JAVA_COMPILE_FLAGS "-Xlint:unchecked")
+
+  file(GLOB_RECURSE JAVA_SOURCES src/main/java/*.java)
+  add_jar(wpilibOldCommands_jar ${JAVA_SOURCES} INCLUDE_JARS hal_jar ntcore_jar cscore_jar cameraserver_jar wpimath_jar wpiutil_jar wpilibj_jar OUTPUT_NAME wpilibOldCommands)
+
+  get_property(WPIlIBOLDCOMMANDS_JAR_FILE TARGET wpilibOldCommands_jar PROPERTY JAR_FILE)
+  install(FILES ${WPIlIBOLDCOMMANDS_JAR_FILE} DESTINATION "${java_lib_dest}")
+
+  set_property(TARGET wpilibOldCommands_jar PROPERTY FOLDER "java")
+
+  if (WITH_FLAT_INSTALL)
+      set (wpilibOldCommands_config_dir ${wpilib_dest})
+  else()
+      set (wpilibOldCommands_config_dir share/wpilibOldCommands)
+  endif()
+
+  install(FILES wpilibOldCommands-config.cmake DESTINATION ${wpilibOldCommands_config_dir})
+endif()
+
+file(GLOB_RECURSE wpilibOldCommands_native_src src/main/native/cpp/*.cpp)
+add_library(wpilibOldCommands ${wpilibOldCommands_native_src})
+set_target_properties(wpilibOldCommands PROPERTIES DEBUG_POSTFIX "d")
+set_property(TARGET wpilibOldCommands PROPERTY FOLDER "libraries")
+
+target_compile_features(wpilibOldCommands PUBLIC cxx_std_17)
+wpilib_target_warnings(wpilibOldCommands)
+target_link_libraries(wpilibOldCommands wpilibc)
+
+target_include_directories(wpilibOldCommands PUBLIC
+                            $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/include>
+                            $<INSTALL_INTERFACE:${include_dest}/wpilibOldCommands>)
+
+install(TARGETS wpilibOldCommands EXPORT wpilibOldCommands DESTINATION "${main_lib_dest}")
+install(DIRECTORY src/main/native/include/ DESTINATION "${include_dest}/wpilibOldCommands")
+
+if (MSVC OR FLAT_INSTALL_WPILIB)
+     set(wpilibOldCommands_config_dir ${wpilib_dest})
+ else()
+     set(wpilibOldCommands_config_dir share/wpilibOldCommands)
+ endif()
+
+ configure_file(wpilibOldCommands-config.cmake.in ${WPILIB_BINARY_DIR}/wpilibOldCommands-config.cmake)
+ install(FILES ${WPILIB_BINARY_DIR}/wpilibOldCommands-config.cmake DESTINATION ${wpilibOldCommands_config_dir})
+ install(EXPORT wpilibOldCommands DESTINATION ${wpilibOldCommands_config_dir})
+
+ if (WITH_TESTS)
+     wpilib_add_test(wpilibOldCommands src/test/native/cpp)
+     target_include_directories(wpilibOldCommands_test PRIVATE src/test/native/include)
+     target_link_libraries(wpilibOldCommands_test wpilibOldCommands gmock_main)
+ endif()

wpilibOldCommands/wpilibOldCommands-config.cmake.in

@@ -0,0 +1,11 @@
+include(CMakeFindDependencyMacro)
+@FILENAME_DEP_REPLACE@
+@WPIUTIL_DEP_REPLACE@
+@NTCORE_DEP_REPLACE@
+@CSCORE_DEP_REPLACE@
+@CAMERASERVER_DEP_REPLACE@
+@HAL_DEP_REPLACE@
+@WPILIBC_DEP_REPLACE@
+@WPIMATH_DEP_REPLACE@
+
+include(${SELF_DIR}/wpilibOldCommands.cmake)

wpilibcExamples/CMakeLists.txt

@@ -0,0 +1,31 @@
+project(wpilibcExamples)
+
+include(AddTest)
+include(SubDirList)
+
+SUBDIR_LIST(TEMPLATES ${CMAKE_SOURCE_DIR}/wpilibcExamples/src/main/cpp/templates)
+SUBDIR_LIST(EXAMPLES  ${CMAKE_SOURCE_DIR}/wpilibcExamples/src/main/cpp/examples)
+
+foreach(example ${EXAMPLES})
+  file(GLOB_RECURSE sources src/main/cpp/examples/${example}/cpp/*.cpp
+                            src/main/cpp/examples/${example}/c/*.c)
+  add_executable(${example} ${sources})
+  target_include_directories(${example} PUBLIC src/main/cpp/examples/${example}/include)
+  target_link_libraries(${example} wpilibc wpilibNewCommands wpilibOldCommands)
+
+  if (WITH_TESTS AND EXISTS ${CMAKE_SOURCE_DIR}/wpilibcExamples/src/test/cpp/examples/${example})
+    wpilib_add_test(${example} src/test/cpp/examples/${example}/cpp)
+    target_sources(${example}_test PRIVATE ${sources})
+    target_include_directories(${example}_test PRIVATE src/test/cpp/examples/${example}/include)
+    target_compile_definitions(${example}_test PUBLIC RUNNING_FRC_TESTS)
+    target_link_libraries(${example}_test wpilibc wpilibNewCommands wpilibOldCommands gmock_main)
+  endif()
+endforeach()
+
+foreach(template ${TEMPLATES})
+  file(GLOB_RECURSE sources src/main/cpp/templates/${template}/cpp/*.cpp
+                            src/main/cpp/templates/${template}/c/*.c)
+  add_executable(${template} ${sources})
+  target_include_directories(${template} PUBLIC src/main/cpp/templates/${template}/include)
+  target_link_libraries(${template} wpilibc wpilibNewCommands wpilibOldCommands)
+endforeach()

wpilibcExamples/build.gradle

@@ -2,6 +2,7 @@ import org.gradle.language.base.internal.ProjectLayout
 
 apply plugin: 'cpp'
 apply plugin: 'c'
+apply plugin: 'google-test-test-suite'
 apply plugin: 'visual-studio'
 apply plugin: 'edu.wpi.first.NativeUtils'
 apply plugin: ExtraTasks
@@ -9,6 +10,7 @@ apply plugin: ExtraTasks
 evaluationDependsOn(':hal')
 
 apply from: '../shared/config.gradle'
+apply from: "${rootDir}/shared/googletest.gradle"
 
 ext.examplesMap = [:]
 ext.templatesMap = [:]
@@ -160,39 +162,63 @@ model {
             }
         }
     }
-    tasks {
-        def b = $.binaries
-        b.each { binary->
-            if (binary in NativeExecutableBinarySpec) {
-                def installDir = binary.tasks.install.installDirectory.get().toString() + File.separatorChar
-                def runFile = binary.tasks.install.runScriptFile.get().asFile.toString()
-
-                binary.tasks.install.doLast {
-                    if (binary.targetPlatform.operatingSystem.isWindows()) {
-                        // Windows batch scripts
-                        fileName = binary.component.name + 'RealDS.bat'
-                        file = new File(installDir + fileName)
-                        file.withWriter { out ->
-                            out.println '@ECHO OFF'
-                            out.print 'SET HALSIM_EXTENSIONS='
-                            out.println '"' + new File(installDir + 'lib\\halsim_ds_socket.dll').toString() + '"'
-                            out.println runFile + ' %*'
+    testSuites {
+        examplesMap.each { key, value ->
+            def testFolder = new File("${rootDir}/wpilibcExamples/src/test/cpp/examples/${key}")
+            if (testFolder.exists()) {
+                "${key}Test"(GoogleTestTestSuiteSpec) {
+                    for (NativeComponentSpec c : $.components) {
+                        if (c.name == key) {
+                            testing c
+                            break
                         }
-                    } else {
-                        fileName = binary.component.name + 'RealDS.sh'
-                        file = new File(installDir + fileName)
-                        file.withWriter { out ->
-                            out.print 'export HALSIM_EXTENSIONS='
-                            out.println '"' + new File(installDir + '/lib/libhalsim_ds_socket.so').toString() + '"'
-                            out.println runFile + ' "$@"'
+                    }
+                    sources {
+                        cpp {
+                            source {
+                                srcDirs "src/test/cpp/examples/${key}/cpp"
+                                include '**/*.cpp'
+                            }
+                            exportedHeaders {
+                                srcDirs "src/test/cpp/examples/${key}/include"
+                            }
+                        }
+                        c {
+                            source {
+                                srcDirs "src/test/cpp/examples/${key}/c"
+                                include '**/*.c'
+                            }
+                            exportedHeaders {
+                                srcDirs "src/test/cpp/examples/${key}/include"
+                            }
                         }
                     }
                 }
-
             }
         }
     }
+    binaries {
+        withType(GoogleTestTestSuiteBinarySpec) {
+            lib project: ':wpilibOldCommands', library: 'wpilibOldCommands', linkage: 'shared'
+            lib project: ':wpilibNewCommands', library: 'wpilibNewCommands', linkage: 'shared'
+            lib project: ':wpilibc', library: 'wpilibc', linkage: 'shared'
+            lib project: ':wpimath', library: 'wpimath', linkage: 'shared'
+            lib project: ':ntcore', library: 'ntcore', linkage: 'shared'
+            lib project: ':cscore', library: 'cscore', linkage: 'shared'
+            project(':hal').addHalDependency(it, 'shared')
+            lib project: ':cameraserver', library: 'cameraserver', linkage: 'shared'
+            lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
+            if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
+                nativeUtils.useRequiredLibrary(it, 'netcomm_shared', 'chipobject_shared', 'visa_shared', 'ni_runtime_shared')
+            }
+            nativeUtils.useRequiredLibrary(it, 'opencv_shared')
+
+            it.cppCompiler.define('RUNNING_FRC_TESTS')
+            it.cCompiler.define('RUNNING_FRC_TESTS')
+        }
+    }
 }
+
 apply from: 'publish.gradle'
 
 model {

wpilibjExamples/build.gradle

@@ -1,4 +1,5 @@
 apply plugin: 'java'
+apply plugin: 'jacoco'
 
 ext {
     useJava = true
@@ -8,7 +9,19 @@ ext {
 
 apply from: "${rootDir}/shared/opencv.gradle"
 
+test {
+    useJUnitPlatform()
+    systemProperty 'junit.jupiter.extensions.autodetection.enabled', 'true'
+    testLogging {
+        events "failed"
+        exceptionFormat "full"
+    }
+    finalizedBy jacocoTestReport
+}
 
+if (project.hasProperty('onlylinuxathena') || project.hasProperty('onlylinuxraspbian') || project.hasProperty('onlylinuxaarch64bionic')) {
+    test.enabled = false
+}
 
 dependencies {
     implementation project(':wpilibj')
@@ -21,6 +34,21 @@ dependencies {
     implementation project(':cameraserver')
     implementation project(':wpilibOldCommands')
     implementation project(':wpilibNewCommands')
+
+    testImplementation 'org.junit.jupiter:junit-jupiter-api:5.4.2'
+    testImplementation 'org.junit.jupiter:junit-jupiter-params:5.4.2'
+    testRuntimeOnly 'org.junit.jupiter:junit-jupiter-engine:5.4.2'
+}
+
+jacoco {
+    toolVersion = "0.8.4"
+}
+
+jacocoTestReport {
+    reports {
+        xml.enabled true
+        html.enabled true
+    }
 }
 
 if (!project.hasProperty('skipPMD')) {