Reduce cmake test boilerplate

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.

test/CMakeLists.txt

@@ -17,10 +17,22 @@ set(MUJOCO_TEST_WORKING_DIR ${CMAKE_CURRENT_SOURCE_DIR})
 
 include(GoogleTest)
 
+# This macro is used to add a C++ test to MuJoCo CMake build system
+#
+# The CMake targets linked by default with target_link_libraries are:
+#   mujoco fixture gmock
+#
+# The macro supports the following parameters:
+#   * PROPERTIES: multiple value parameter, its value is set as test properties
+#                 via the set_tests_properties(<test> PROPERTIES <argument>) function
+#   * ADDITIONAL_LINK_LIBRARIES: multiple value parameter, additional libraries linked
+#                                to the test via target_link_libraries
+#   * MAIN_TARGET: single value parameter, used to specify the target linked to the tests
+#                  that define the main entry poiny. If not indicated, gest_main is used
 macro(mujoco_test name)
   set(options)
-  set(oneValueArgs)
+  set(oneValueArgs MAIN_TARGET)
-  set(multiValueArgs PROPERTIES)
+  set(multiValueArgs PROPERTIES ADDITIONAL_LINK_LIBRARIES)
   cmake_parse_arguments(
     _ARGS
     "${options}"
@@ -30,7 +42,15 @@ macro(mujoco_test name)
   )
 
   add_executable(${name} ${name}.cc)
-  target_link_libraries(${name} gtest_main mujoco)
+  target_link_libraries(${name} mujoco fixture gmock)
+  if(_ARGS_MAIN_TARGET)
+    target_link_libraries(${name} ${_ARGS_MAIN_TARGET})
+  else()
+    target_link_libraries(${name} gtest_main)
+  endif()
+  if(_ARGS_ADDITIONAL_LINK_LIBRARIES)
+    target_link_libraries(${name} ${_ARGS_ADDITIONAL_LINK_LIBRARIES})
+  endif()
   target_include_directories(${name} PRIVATE ${MUJOCO_TEST_INCLUDE})
   set_target_properties(${name} PROPERTIES BUILD_RPATH ${CMAKE_LIBRARY_OUTPUT_DIRECTORY})
   # gtest_discover_tests is recommended over gtest_add_tests, but has some issues in Windows.
@@ -48,6 +68,7 @@ macro(mujoco_test name)
   if(_ARGS_PROPERTIES)
     set_tests_properties(${testList} PROPERTIES ${_ARGS_PROPERTIES})
   endif()
+
 endmacro()
 
 add_library(fixture STATIC fixture.h fixture.cc)
@@ -67,13 +88,10 @@ target_link_libraries(
 target_include_directories(fixture PRIVATE ${mujoco_SOURCE_DIR}/include gmock)
 
 mujoco_test(fixture_test)
-target_link_libraries(fixture_test fixture gmock)
 
 mujoco_test(header_test)
-target_link_libraries(header_test fixture gmock)
 
 mujoco_test(pipeline_test)
-target_link_libraries(pipeline_test fixture gmock)
 
 add_subdirectory(benchmark)
 add_subdirectory(engine)

test/benchmark/CMakeLists.txt

@@ -12,86 +12,45 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-# Macro for benchmarks that don't use GL (same as mujoco_api_test, but uses
-# benchmark::benchmark_main).
 
-macro(mujoco_benchmark_test name)
+mujoco_test(
-  add_executable(${name} ${name}.cc)
-  target_link_libraries(
-    ${name}
-    benchmark::benchmark_main
-    mujoco
-    absl::core_headers
-  )
-  target_include_directories(${name} PRIVATE ${MUJOCO_TEST_INCLUDE})
-  # TODO(fraromano) Check RPATH settings
-  set_target_properties(${name} PROPERTIES BUILD_RPATH ${CMAKE_LIBRARY_OUTPUT_DIRECTORY})
-  # gtest_discover_tests is recommended over gtest_add_tests, but has some issues in Windows.
-  gtest_add_tests(
-    TARGET ${name}
-    SOURCES ${name}.cc
-    WORKING_DIRECTORY ${MUJOCO_TEST_WORKING_DIR}
-    TEST_LIST testList
-  )
-  if(WIN32)
-    set_tests_properties(
-      ${testList} PROPERTIES ENVIRONMENT "PATH=$<TARGET_FILE_DIR:mujoco>;$ENV{PATH}"
-    )
-  endif()
-endmacro()
-
-mujoco_benchmark_test(ccd_benchmark_test)
-target_link_libraries(
   ccd_benchmark_test
-  fixture
+  MAIN_TARGET benchmark::benchmark_main
-  gmock
+  ADDITIONAL_LINK_LIBRARIES benchmark::benchmark absl::core_headers
-  benchmark::benchmark
 )
 
-mujoco_benchmark_test(step_benchmark_test)
+mujoco_test(
-target_link_libraries(
   step_benchmark_test
-  fixture
+  MAIN_TARGET benchmark::benchmark_main
-  gmock
+  ADDITIONAL_LINK_LIBRARIES benchmark::benchmark absl::core_headers
-  benchmark::benchmark
 )
 
-mujoco_benchmark_test(thread_performance_test)
+mujoco_test(
-target_link_libraries(
   thread_performance_test
-  fixture
+  MAIN_TARGET benchmark::benchmark_main
-  gmock
+  ADDITIONAL_LINK_LIBRARIES benchmark::benchmark absl::core_headers
-  benchmark::benchmark
 )
 
-mujoco_benchmark_test(parse_benchmark_test)
+mujoco_test(
-target_link_libraries(
   parse_benchmark_test
-  fixture
+  MAIN_TARGET benchmark::benchmark_main
-  gmock
+  ADDITIONAL_LINK_LIBRARIES benchmark::benchmark absl::core_headers
-  benchmark::benchmark
 )
 
-mujoco_benchmark_test(engine_util_spatial_benchmark_test)
+mujoco_test(
-target_link_libraries(
   engine_util_spatial_benchmark_test
-  fixture
+  MAIN_TARGET benchmark::benchmark_main
-  gmock
+  ADDITIONAL_LINK_LIBRARIES benchmark::benchmark absl::core_headers
-  benchmark::benchmark
 )
 
-mujoco_benchmark_test(engine_core_smooth_benchmark_test)
+mujoco_test(
-target_link_libraries(
   engine_core_smooth_benchmark_test
-  fixture
+  MAIN_TARGET benchmark::benchmark_main
-  gmock
+  ADDITIONAL_LINK_LIBRARIES benchmark::benchmark absl::core_headers
-  benchmark::benchmark
 )
 
-mujoco_benchmark_test(engine_util_sparse_benchmark_test)
+mujoco_test(
-target_link_libraries(
   engine_util_sparse_benchmark_test
-  fixture
+  MAIN_TARGET benchmark::benchmark_main
-  gmock
+  ADDITIONAL_LINK_LIBRARIES benchmark::benchmark absl::core_headers
-  benchmark::benchmark
 )

test/engine/CMakeLists.txt

@@ -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)
+mujoco_test(engine_collision_gjk_test ADDITIONAL_LINK_LIBRARIES ccd)
-target_link_libraries(engine_collision_gjk_test fixture gmock ccd)
 
 mujoco_test(engine_core_constraint_test)
-target_link_libraries(engine_core_constraint_test fixture gmock)
 
-mujoco_test(engine_core_smooth_test)
+mujoco_test(engine_core_smooth_test ADDITIONAL_LINK_LIBRARIES absl::span)
-target_link_libraries(engine_core_smooth_test fixture gmock 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)
+mujoco_test(engine_io_test ADDITIONAL_LINK_LIBRARIES absl::str_format)
-target_link_libraries(
-  engine_io_test
-  fixture
-  gmock
-  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)

test/plugin/actuator/CMakeLists.txt

@@ -14,8 +14,11 @@
 
 mujoco_test(
   pid_test
+  ADDITIONAL_LINK_LIBRARIES
+  absl::cleanup
+  absl::strings
   PROPERTIES
   ENVIRONMENT
   "MUJOCO_PLUGIN_DIR=$<TARGET_FILE_DIR:actuator>"
 )
-target_link_libraries(pid_test fixture gmock absl::cleanup absl::strings)
+target_link_libraries(pid_test fixture gmock )

test/plugin/elasticity/CMakeLists.txt

@@ -18,4 +18,3 @@ mujoco_test(
   ENVIRONMENT
   "MUJOCO_PLUGIN_DIR=$<TARGET_FILE_DIR:elasticity>"
 )
-target_link_libraries(elasticity_test fixture gmock)

test/plugin/sensor/CMakeLists.txt

@@ -18,4 +18,3 @@ mujoco_test(
   ENVIRONMENT
   "MUJOCO_PLUGIN_DIR=$<TARGET_FILE_DIR:sensor>"
 )
-target_link_libraries(sensor_test fixture gmock)

test/thread/CMakeLists.txt

@@ -13,7 +13,5 @@
 # limitations under the License.
 
 mujoco_test(thread_pool_test)
-target_link_libraries(thread_pool_test fixture gmock)
 
 mujoco_test(thread_queue_test)
-target_link_libraries(thread_queue_test fixture gmock)

test/user/CMakeLists.txt

@@ -12,11 +12,9 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-mujoco_test(user_model_test)
+mujoco_test(user_model_test ADDITIONAL_LINK_LIBRARIES absl::str_format)
-target_link_libraries(user_model_test fixture gmock absl::str_format)
 
 mujoco_test(user_objects_test)
-target_link_libraries(user_objects_test fixture gmock)
 
 mujoco_test(
   user_api_test
@@ -24,24 +22,13 @@ mujoco_test(
   ENVIRONMENT
   "MUJOCO_PLUGIN_DIR=$<TARGET_FILE_DIR:elasticity>"
 )
-target_link_libraries(user_api_test fixture gmock)
 
 mujoco_test(user_flex_test)
-target_link_libraries(user_flex_test fixture gmock)
 
-mujoco_test(user_mesh_test)
+mujoco_test(user_mesh_test ADDITIONAL_LINK_LIBRARIES absl::str_format)
-target_link_libraries(
-  user_mesh_test
-  fixture
-  gmock
-  absl::str_format
-)
 
 mujoco_test(user_composite_test)
-target_link_libraries(user_composite_test fixture gmock)
 
 mujoco_test(user_resource_test)
-target_link_libraries(user_resource_test fixture gmock)
 
 mujoco_test(user_vfs_test)
-target_link_libraries(user_vfs_test fixture gmock)

test/xml/CMakeLists.txt

@@ -13,20 +13,14 @@
 # limitations under the License.
 
 mujoco_test(xml_api_test)
-target_link_libraries(xml_api_test fixture gmock)
 
 mujoco_test(xml_native_reader_test)
-target_link_libraries(xml_native_reader_test fixture gmock)
 
 mujoco_test(
   xml_native_writer_test
+  ADDITIONAL_LINK_LIBRARIES
+  absl::flat_hash_set
   PROPERTIES
   ENVIRONMENT
   "MUJOCO_PLUGIN_DIR=$<TARGET_FILE_DIR:elasticity>"
 )
-target_link_libraries(
-  xml_native_writer_test
-  fixture
-  gmock
-  absl::flat_hash_set
-)