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[Foxy] backport pluginlib enable plugin testing #202

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Merged
sloretz merged 3 commits into from
Dec 7, 2021
Merged

[Foxy] backport pluginlib enable plugin testing #202

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d390fcc
[ROS 2] Add function for same-package pluginlib tests (#201)
sloretz Aug 25, 2020
8b5a1a2
cmake 3.5 compatibility (#203)
Karsten1987 Aug 27, 2020
07ff2b5
Remove unused variable output_library (#211)
sloretz Oct 19, 2020
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38 changes: 13 additions & 25 deletions pluginlib/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -83,16 +83,6 @@ if(BUILD_TESTING)
set(FILESYSTEM_LIB stdc++fs)
endif()

set(prefix "${CMAKE_CURRENT_BINARY_DIR}/prefix")

# Write the necessary files for ament to detect a package.
file(COPY test/test_plugins.xml DESTINATION "${prefix}/share/test_pluginlib/")
configure_file(test/test_package.xml "${prefix}/share/test_pluginlib/package.xml" COPYONLY)

file(WRITE "${prefix}/share/ament_index/resource_index/test_pluginlib__pluginlib__plugin/pluginlib"
"share/test_pluginlib/test_plugins.xml\n")
file(WRITE "${prefix}/share/ament_index/resource_index/packages/test_pluginlib" "")

include_directories(include test/include)

add_library(test_plugins SHARED ./test/test_plugins.cpp)
Expand All @@ -103,22 +93,21 @@ if(BUILD_TESTING)
class_loader
)

# Use a generator expression so that the specified folder is used directly, without any
# configuration-dependent suffix.
#
# See https://cmake.org/cmake/help/v3.8/prop_tgt/LIBRARY_OUTPUT_DIRECTORY.html
# Ref: https://stackoverflow.com/a/45871818
set_target_properties(
test_plugins PROPERTIES
ARCHIVE_OUTPUT_DIRECTORY "${prefix}/lib/$<$<CONFIG:Debug>:>"
LIBRARY_OUTPUT_DIRECTORY "${prefix}/lib/$<$<CONFIG:Debug>:>"
RUNTIME_OUTPUT_DIRECTORY "${prefix}/bin/$<$<CONFIG:Debug>:>"
include("cmake/pluginlib_enable_plugin_testing.cmake")
pluginlib_enable_plugin_testing(
CMAKE_TARGET_VAR mock_install_target
AMENT_PREFIX_PATH_VAR mock_install_path
PACKAGE_NAME "test_pluginlib"
PACKAGE_XML "test/test_package.xml"
PLUGIN_CATEGORY "test_pluginlib"
PLUGIN_DESCRIPTIONS "test/test_plugins.xml"
PLUGIN_LIBRARIES test_plugins
)

ament_add_gtest(${PROJECT_NAME}_unique_ptr_test
test/unique_ptr_test.cpp
APPEND_LIBRARY_DIRS "$<TARGET_FILE_DIR:test_plugins>"
ENV AMENT_PREFIX_PATH=${prefix}
APPEND_ENV AMENT_PREFIX_PATH=${mock_install_path}
)
if(TARGET ${PROJECT_NAME}_unique_ptr_test)
ament_target_dependencies(
Expand All @@ -134,13 +123,12 @@ if(BUILD_TESTING)
if(UNIX AND NOT APPLE)
target_link_libraries(${PROJECT_NAME}_unique_ptr_test ${FILESYSTEM_LIB})
endif()
add_dependencies(${PROJECT_NAME}_unique_ptr_test test_plugins)
add_dependencies(${PROJECT_NAME}_unique_ptr_test "${mock_install_target}")
endif()

ament_add_gtest(${PROJECT_NAME}_utest
test/utest.cpp
APPEND_LIBRARY_DIRS "$<TARGET_FILE_DIR:test_plugins>"
ENV AMENT_PREFIX_PATH=${prefix}
APPEND_ENV AMENT_PREFIX_PATH=${mock_install_path}
)
if(TARGET ${PROJECT_NAME}_utest)
ament_target_dependencies(
Expand All @@ -156,7 +144,7 @@ if(BUILD_TESTING)
if(UNIX AND NOT APPLE)
target_link_libraries(${PROJECT_NAME}_utest ${FILESYSTEM_LIB})
endif()
add_dependencies(${PROJECT_NAME}_utest test_plugins)
add_dependencies(${PROJECT_NAME}_utest "${mock_install_target}")
endif()

endif()
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1 change: 1 addition & 0 deletions pluginlib/cmake/blank.in
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@@ -0,0 +1 @@
@FILE_CONTENT@
222 changes: 222 additions & 0 deletions pluginlib/cmake/pluginlib_enable_plugin_testing.cmake
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Original file line number Diff line number Diff line change
@@ -0,0 +1,222 @@
# Copyright 2020 Open Source Robotics Foundation, Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.

# Set variable for accessing template inside function scope
set(PLUGINLIB_ENABLE_PLUGIN_TESTING_DIR "${CMAKE_CURRENT_LIST_DIR}")

#
# Enable testing plugins by mock-installing needed files to the build folder.
#
# Pluginlib needs a certain folder structure in the ament_index to recognize
# the existance of a package and its exported plugins.
# This structure must exist at test time in order for unit tests to load
# plugins.
# The macro `pluginlib_export_plugin_description_file()` sets up this structure
# in the install space, but a package's install space is not accessible to it
# when its own unit tests are run.
# This function sets up the structure in the build space so that unit tests
# can load plugins from the same package they reside in.
#
# The input to this function is everything required by pluginlib to recognize a
# package and its plugins.
# The output of this function is two CMake variables.
# One CMake variable holds a path to be appended to the environment variable
# `AMENT_PREFIX_PATH` used by the test.
# Another CMake variable holds the name of a CMake target that must be
# depended on to ensure the mock environment has been created before the test
# runs.
#
# CMake macros provided by ament_cmake for creating tests have an argument
# called APPEND_ENV that should be used for modifying `AMENT_PREFIX_PATH`.
# `add_dependencies()` must be used to ensure the test runs after the mock
# install environment has been created.
#
# pluginlib_enable_plugin_testing(...
# CMAKE_TARGET_VAR mock_install_target
# AMENT_PREFIX_PATH_VAR mock_install_path
# ...)
# ament_add_[some kind of test](some_test_target ...
# APPEND_ENV AMENT_PREFIX_PATH="${mock_install_path}"
# ...)
# add_dependencies(some_test_target "${mock_install_target}")
#
# This function must only be called once for each unique combination of
# "PACKAGE_NAME" and "PLUGIN_CATEGORY".
#
# :param CMAKE_TARGET_VAR: the name of the target that creates the mock install
# environment.
# :type CMAKE_TARGET_VAR: string
# :param AMENT_PREFIX_PATH_VAR: the name of the variable that will contain the
# mock installation path for tests to use after this function is run.
# :type AMENT_PREFIX_PATH_VAR: string
# :param PACKAGE_NAME: the name of the mock package to install.
# If unspecified this defaults to "${PROJECT_NAME}"
# :type PACKAGE_NAME: string
# :param PACKAGE_XML: the path to a package.xml to install.
# If unspecified this defaults to "${CMAKE_SOURCE_DIR}/package.xml".
# :type PACKAGE_XML: string
# :param PLUGIN_CATEGORY: the plugin category these plugins belong to.
# :type PLUGIN_CATEGORY: string
# :param PLUGIN_DESCRIPTIONS: At least one plugin description to mock install.
# The paths should match the specification for relative_filename in the macro
# `pluginlib_export_plugin_description_file()`.
# :type PLUGIN_DESCRIPTIONS: list of strings
# :param PLUGIN_LIBRARIES: At least one library target for pluginlib plugins.
# There should be one target for every plugin library described in the plugin
# description files.
# :type PLUGIN_LIBRARIES: list of targets
#
# @public
#
function(pluginlib_enable_plugin_testing)
#####
# Make sure inputs are valid
#####

cmake_parse_arguments(ARG
""
"CMAKE_TARGET_VAR;AMENT_PREFIX_PATH_VAR;PACKAGE_XML;PACKAGE_NAME;PLUGIN_CATEGORY"
"PLUGIN_DESCRIPTIONS;PLUGIN_LIBRARIES"
${ARGN})
if(ARG_UNPARSED_ARGUMENTS)
message(FATAL_ERROR "pluginlib_enable_plugin_testing() called with unused arguments: "
"${ARG_UNPARSED_ARGUMENTS}")
endif()

# Error or set defaults for required vs optional arguments
if(NOT ARG_CMAKE_TARGET_VAR)
message(FATAL_ERROR "CMAKE_TARGET_VAR is a required argument")
endif()
if(NOT ARG_AMENT_PREFIX_PATH_VAR)
message(FATAL_ERROR "AMENT_PREFIX_PATH_VAR is a required argument")
endif()
if(NOT ARG_PACKAGE_NAME)
set(ARG_PACKAGE_NAME "${PROJECT_NAME}")
endif()
if(NOT ARG_PACKAGE_XML)
set(ARG_PACKAGE_XML "${CMAKE_SOURCE_DIR}/package.xml")
endif()
if(NOT ARG_PLUGIN_CATEGORY)
message(FATAL_ERROR "PLUGIN_CATEGORY is a required argument")
endif()
if(NOT ARG_PLUGIN_DESCRIPTIONS)
message(FATAL_ERROR "At least one plugin description via PLUGIN_DESCRIPTIONS is required")
endif()
if(NOT ARG_PLUGIN_LIBRARIES)
message(FATAL_ERROR "At least one plugin library target via PLUGIN_LIBRARIES is required")
endif()

set(target_name "pluginlib_enable_plugin_testing__${ARG_PLUGIN_CATEGORY}__${ARG_PACKAGE_NAME}")
if(TARGET "${target_name}")
message(FATAL_ERROR "pluginlib_enable_plugin_testing has already been called with category '${ARG_PLUGIN_CATEGORY}' and package name '${ARG_PACKAGE_NAME}'")
endif()

#####
# Plan out mock install space before configuring things to create it
#####

# Lists of equal size
# If input_files is not "", then copy that to the path in "output_files"
# If input_files is "", then write string from input_content to the path in "output_files"
# FOOBAR is a workaround to enable appending empty elements when the list is empty
set(input_content "FOOBAR")
set(input_files "FOOBAR")
set(output_files "FOOBAR")

# Each "PACKAGE_NAME" goes to it's own folder
set(prefix "${CMAKE_CURRENT_BINARY_DIR}/pluginlib_enable_plugin_testing/install/${ARG_PACKAGE_NAME}__${ARG_PLUGIN_CATEGORY}")

# Install package.xml, renaming to just `package.xml` if needed
set(fake_install_dir "${prefix}/share/${ARG_PACKAGE_NAME}/")
list(APPEND input_files "${ARG_PACKAGE_XML}")
list(APPEND input_content "")
list(APPEND output_files "${fake_install_dir}/package.xml")

# Add blank file indicating existance of package in the ament index
list(APPEND input_files "")
list(APPEND input_content "")
list(APPEND output_files "${prefix}/share/ament_index/resource_index/packages/${ARG_PACKAGE_NAME}")

# Write the plugin descriptions in share/
set(ament_index_plugin_content "")
foreach(plugin_description_path "${ARG_PLUGIN_DESCRIPTIONS}")
list(APPEND input_files "${plugin_description_path}")
list(APPEND input_content "")
list(APPEND output_files "${prefix}/share/${ARG_PACKAGE_NAME}/${plugin_description_path}")

set(ament_index_plugin_content "${ament_index_plugin_content}\nshare/${ARG_PACKAGE_NAME}/${plugin_description_path}")
endforeach()
# Get rid of leading newline
string(STRIP "${ament_index_plugin_content}" ament_index_plugin_content)

# Write one file that says where all of this package's plugin description files are
list(APPEND input_files "")
list(APPEND input_content "${ament_index_plugin_content}")
list(APPEND output_files "${prefix}/share/ament_index/resource_index/${ARG_PLUGIN_CATEGORY}__pluginlib__plugin/${ARG_PACKAGE_NAME}")

# Get rid of FOOBAR
list(REMOVE_AT input_files 0)
list(REMOVE_AT input_content 0)
list(REMOVE_AT output_files 0)

#####
# Create commands to generate mock install space at build time
#####

list(LENGTH output_files num_output_files)
# subtract 1 to avoid looping out of range
math(EXPR range_stop "${num_output_files} - 1")
foreach(idx RANGE ${range_stop})
list(GET input_files ${idx} input_file)
list(GET input_content ${idx} content)
list(GET output_files ${idx} output_file)

# Make the directory at configure time because configure_file() does not make directories
get_filename_component(output_dir "${output_file}" DIRECTORY)
file(MAKE_DIRECTORY "${output_dir}")

if(IS_ABSOLUTE "${input_file}")
set(input_file_abs "${input_file}")
else()
set(input_file_abs "${CMAKE_CURRENT_SOURCE_DIR}/${input_file}")
endif()

# Copy or write file contents at build time
if("${input_file}" STREQUAL "")
set(FILE_CONTENT "${content}")
configure_file("${PLUGINLIB_ENABLE_PLUGIN_TESTING_DIR}/blank.in" "${output_file}" @ONLY)
else()
configure_file("${input_file_abs}" "${output_file}" COPYONLY)
endif()
endforeach()

# Copy library targets at build time; but make directory at configure time
# because `cmake -E copy` does not make directories
file(MAKE_DIRECTORY "${prefix}/lib")
foreach(plugin_library "${ARG_PLUGIN_LIBRARIES}")
add_custom_command(TARGET "${plugin_library}"
POST_BUILD
COMMAND ${CMAKE_COMMAND} -E copy $<TARGET_FILE:${plugin_library}>
"${prefix}/lib/"
)
endforeach()

add_custom_target("${target_name}" DEPENDS ${output_files})

#####
# Set output variables
#####
set("${ARG_CMAKE_TARGET_VAR}" "${target_name}" PARENT_SCOPE)
set("${ARG_AMENT_PREFIX_PATH_VAR}" "${prefix}" PARENT_SCOPE)
endfunction()
1 change: 1 addition & 0 deletions pluginlib/pluginlib-extras.cmake
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Expand Up @@ -19,6 +19,7 @@ ament_register_extension("ament_package" "pluginlib"
"pluginlib_package_hook.cmake")

include("${pluginlib_DIR}/pluginlib_export_plugin_description_file.cmake")
include("${pluginlib_DIR}/pluginlib_enable_plugin_testing.cmake")

if(CMAKE_CXX_COMPILER_ID MATCHES "Clang" AND CMAKE_CXX_FLAGS MATCHES "-stdlib=libc\\+\\+")
if(CMAKE_CXX_COMPILER_VERSION VERSION_LESS 7.0)
Expand Down