Clean up unit tests (#1635)

cmake/DARTMacros.cmake

@@ -288,3 +288,103 @@ function(dart_build_tutorial_in_source target)
   dart_build_target_in_source(${target} ${ARGN})
   dart_add_tutorial(${target})
 endfunction()
+
+
+# ==============================================================================
+# dart_build_tests()
+#
+function(dart_build_tests)
+  set(prefix _ARG)
+  set(options
+    GLOB_SOURCES
+  )
+  set(oneValueArgs
+    COMPONENT_NAME
+    TARGET_PREFIX
+    TYPE
+  )
+  set(multiValueArgs
+    INCLUDE_DIRS
+    LINK_LIBRARIES
+    SOURCES
+  )
+  cmake_parse_arguments(
+    "${prefix}" "${options}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN}
+  )
+
+  if(NOT _ARG_TARGET_PREFIX)
+    set(_ARG_TARGET_PREFIX UNIT)
+  endif()
+
+  if(NOT _ARG_TYPE)
+    message(FATAL_ERROR "TYPE is not set!")
+  endif()
+
+  foreach(dep ${_ARG_LINK_LIBRARIES})
+    if(NOT TARGET ${dep})
+      if(_ARG__ARG_COMPONENT_NAME)
+        message(WARNING "Skipping tests for component [${_ARG_COMPONENT_NAME}] due to missing component target [${dep}]")
+      else()
+        message(WARNING "Skipping tests due to missing component target [${dep}]")
+      endif()
+      return()
+    endif()
+  endforeach()
+
+  # Glob all the test files
+  if(_ARG_GLOB_SOURCES)
+    file(GLOB_RECURSE glob_test_files RELATIVE "${CMAKE_CURRENT_LIST_DIR}" "test_*.cpp")
+    list(APPEND test_files ${glob_test_files})
+  endif()
+  list(APPEND test_files ${_ARG_SOURCES})
+  if(test_files)
+    list(SORT test_files)
+  endif()
+
+  foreach(source ${test_files})
+    # Set target name
+    if(_ARG_TARGET_PREFIX)
+      set(target_name ${_ARG_TARGET_PREFIX}_)
+    else()
+      set(target_name )
+    endif()
+    get_filename_component(source_name ${source} NAME_WE)
+    string(REPLACE "test_" "" source_name ${source_name})
+    get_filename_component(source_dir ${source} DIRECTORY)
+    if(source_dir)
+      string(REPLACE "/" "_" source_prefix ${source_dir})
+      set(target_name "${target_name}${source_prefix}_${source_name}")
+    else()
+      set(target_name "${target_name}${source_name}")
+    endif()
+
+    if(MSVC)
+      add_executable(${target_name} ${source})
+    else()
+      add_executable(${target_name} EXCLUDE_FROM_ALL ${source})
+    endif()
+    add_test(NAME ${target_name} COMMAND $<TARGET_FILE:${target_name}>)
+
+    # Include directories
+    target_include_directories(
+      ${target_name} PRIVATE ${_ARG_INCLUDE_DIRS}
+    )
+
+    # Link libraries
+    target_link_libraries(${target_name} PRIVATE gtest gtest_main)
+    target_link_libraries(
+      ${target_name} PRIVATE ${_ARG_LINK_LIBRARIES}
+    )
+    if(UNIX)
+      # gtest requies pthread when compiled on a Unix machine
+      target_link_libraries(${target_name} PRIVATE pthread)
+    endif()
+
+    # Add the test target to the list
+    dart_property_add(DART_${_ARG_TYPE}_TESTS ${target_name})
+
+  endforeach()
+
+  dart_format_add(${test_files})
+
+endfunction()

python/tests/unit/dynamics/test_meta_skeleton.py

@@ -3,7 +3,7 @@
 import dartpy as dart
 
 
-# TODO(JS): Move this to comprehensive category once created
+# TODO(JS): Move this to integration category once created
 
 
 def test_basic():

unittests/CMakeLists.txt

@@ -74,7 +74,7 @@ endfunction()
 
 #===============================================================================
 # Usage:
-#   dart_get_tests("comprehensive" compreshensive_tests)
+#   dart_get_tests("integration" compreshensive_tests)
 #   foreach(test ${compreshensive_tests})
 #     message(STATUS "Test: ${test})
 #   endforeach()
@@ -87,29 +87,29 @@ endfunction()
 include_directories(${CMAKE_CURRENT_SOURCE_DIR})
 
 # We categorize tests as:
-# - "comprehensive": high level tests to verify the combination of several
+# - "integration": high level tests to verify the combination of several
 #   components are correctly performs together
 # - "regression": issue wise tests to verify that the GitHub issues are still
 #   fixed even after further changes are made
 # - "unit": low level tests for one or few classes and functions to verify that
 #   they performs correctly as expected
 if(NOT MSVC)
   # Disabled due to limitied disk space in CI image
-  add_subdirectory(comprehensive)
+  add_subdirectory(integration)
   add_subdirectory(regression)
 endif()
 add_subdirectory(unit)
 
 # Print tests
-dart_get_tests(comprehensive_tests "comprehensive")
+dart_get_tests(integration_tests "integration")
 dart_get_tests(regression_tests "regression")
 dart_get_tests(unit_tests "unit")
 
 if(DART_VERBOSE)
   message(STATUS "")
   message(STATUS "[ Tests ]")
-  foreach(test ${comprehensive_tests})
-    message(STATUS "Adding test: comprehensive/${test}")
+  foreach(test ${integration_tests})
+    message(STATUS "Adding test: integration/${test}")
   endforeach()
   foreach(test ${regression_tests})
     message(STATUS "Adding test: regression/${test}")
@@ -118,15 +118,15 @@ if(DART_VERBOSE)
     message(STATUS "Adding test: unit/${test}")
   endforeach()
 else()
-  list(LENGTH comprehensive_tests comprehensive_tests_len)
+  list(LENGTH integration_tests integration_tests_len)
   list(LENGTH regression_tests regression_tests_len)
   list(LENGTH unit_tests unit_tests_len)
   math(
     EXPR tests_len
-    "${comprehensive_tests_len} + ${regression_tests_len} + ${unit_tests_len}"
+    "${integration_tests_len} + ${regression_tests_len} + ${unit_tests_len}"
   )
   message(STATUS "Adding ${tests_len} tests ("
-      "comprehensive: ${comprehensive_tests_len}, "
+      "integration: ${integration_tests_len}, "
       "regression: ${regression_tests_len}, "
       "unit: ${unit_tests_len}"
       ")"
@@ -136,12 +136,12 @@ endif()
 # Add custom target to build all the tests as a single target
 add_custom_target(
   tests
-  DEPENDS ${comprehensive_tests} ${regression_tests} ${unit_tests}
+  DEPENDS ${integration_tests} ${regression_tests} ${unit_tests}
 )
 
 # Add custom target to build all the tests and run the tests
 add_custom_target(tests_and_run COMMAND ${CMAKE_CTEST_COMMAND}
-  DEPENDS ${comprehensive_tests} ${regression_tests} ${unit_tests}
+  DEPENDS ${integration_tests} ${regression_tests} ${unit_tests}
 )
 
 dart_format_add(GTestUtils.hpp)