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Reduce cmake test boilerplate

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All instances of mujoco_test in the code base were followed by
a call to  target_link_libraries(<testname> fixture gmock).

As anyhow mujoco_test already was calling target_link_libraries
to some predefined list of targets (mujoco and gtest_main),
this PR adds to the list of default linked targets also fixture
and gmock, to reduce the boilerplate.

Furthermore, to completly remove the need for calling
target_link_libraries after a call to mujoco_test, this PR also
add to the mujoco_test macro the ADDITIONAL_LINK_LIBRARIES
argument, that can be used if a given test needs to link some
additional targets beside the default ones.

To permit to use these new features also for mujoco benchmarks,
this PR adds a MAIN_TARGET parameter to mujoco_test, to select
if gtest_main or another target is used to provide the main
entry point to the test executable.
This commit is contained in:
Silvio
2024-12-07 16:01:45 +01:00
parent c1d97d4a22
commit 756a8d716a
9 changed files with 58 additions and 134 deletions
Download Patch File Download Diff File Expand all files Collapse all files
test/engine/CMakeLists.txt
+5 -38
View File
@@ -13,91 +13,59 @@
# limitations under the License.
mujoco_test(engine_collision_box_test)
target_link_libraries(engine_collision_box_test fixture gmock)
mujoco_test(engine_collision_convex_test)
target_link_libraries(engine_collision_convex_test fixture gmock)
mujoco_test(engine_collision_driver_test)
target_link_libraries(engine_collision_driver_test fixture gmock)
mujoco_test(engine_collision_gjk_test)
target_link_libraries(engine_collision_gjk_test fixture gmock ccd)
mujoco_test(engine_collision_gjk_test ADDITIONAL_LINK_LIBRARIES ccd)
mujoco_test(engine_core_constraint_test)
target_link_libraries(engine_core_constraint_test fixture gmock)
mujoco_test(engine_core_smooth_test)
target_link_libraries(engine_core_smooth_test fixture gmock absl::span)
mujoco_test(engine_core_smooth_test ADDITIONAL_LINK_LIBRARIES absl::span)
mujoco_test(engine_derivative_test)
target_link_libraries(engine_derivative_test fixture gmock)
mujoco_test(engine_forward_test)
target_link_libraries(engine_forward_test fixture gmock)
mujoco_test(engine_inverse_test)
target_link_libraries(engine_inverse_test fixture gmock)
mujoco_test(engine_island_test)
target_link_libraries(engine_island_test fixture gmock)
mujoco_test(engine_io_test)
target_link_libraries(
engine_io_test
fixture
gmock
absl::str_format
)
mujoco_test(engine_io_test ADDITIONAL_LINK_LIBRARIES absl::str_format)
mujoco_test(
engine_plugin_test
ADDITIONAL_LINK_LIBRARIES
absl::str_format
PROPERTIES
ENVIRONMENT
"MUJOCO_PLUGIN_DIR=$<TARGET_FILE_DIR:elasticity>"
)
target_link_libraries(
engine_plugin_test
fixture
gmock
absl::str_format
)
mujoco_test(engine_passive_test)
target_link_libraries(engine_passive_test fixture gmock)
mujoco_test(engine_print_test)
target_link_libraries(engine_print_test fixture gmock)
mujoco_test(engine_ray_test)
target_link_libraries(engine_ray_test fixture gmock)
mujoco_test(engine_sensor_test)
target_link_libraries(engine_sensor_test fixture gmock)
mujoco_test(engine_solver_test)
target_link_libraries(engine_solver_test fixture gmock)
mujoco_test(engine_sort_test)
target_link_libraries(engine_sort_test fixture gmock)
mujoco_test(engine_support_test)
target_link_libraries(engine_support_test fixture gmock)
mujoco_test(engine_thread_test)
target_link_libraries(engine_thread_test fixture gmock)
mujoco_test(engine_util_blas_test)
target_link_libraries(engine_util_blas_test fixture gmock)
mujoco_test(engine_util_errmem_test)
target_link_libraries(engine_util_errmem_test fixture gmock)
mujoco_test(engine_util_solve_test)
target_link_libraries(engine_util_solve_test fixture gmock)
mujoco_test(engine_util_spatial_test)
target_link_libraries(engine_util_spatial_test fixture gmock)
mujoco_test(
engine_vis_state_test
@@ -105,4 +73,3 @@ mujoco_test(
ENVIRONMENT
"MUJOCO_PLUGIN_DIR=$<TARGET_FILE_DIR:elasticity>"
)
target_link_libraries(engine_vis_state_test fixture gmock)