Migration completed of testing unit from GTest to Catch2.

CMakeLists.txt

@@ -7,13 +7,15 @@ set(CMAKE_CXX_EXTENSIONS OFF)
 
 add_compile_options(-Wall -Wextra -Wpedantic -Werror)
 
-find_package(catkin REQUIRED)
+find_package(catkin REQUIRED COMPONENTS
+	dr_ros
+	roslib
+)
+
 find_package(Boost REQUIRED COMPONENTS filesystem date_time)
 
-include_directories(
-	"include/${PROJECT_NAME}"
-	SYSTEM "${Boost_INCLUDE_DIRS}"
-)
+include_directories("include/${PROJECT_NAME}")
+include_directories(SYSTEM ${catkin_INCLUDE_DIRS})
 
 catkin_package(
 	LIBRARIES ${PROJECT_NAME}
@@ -29,24 +31,10 @@ add_library(${PROJECT_NAME}
 	src/polynomial.cpp
 )
 
-target_link_libraries(${PROJECT_NAME} PRIVATE ${catkin_LIBRARIES} ${Boost_LIBRARIES})
+target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES} ${Boost_LIBRARIES})
 
 if (CATKIN_ENABLE_TESTING)
-	catkin_add_gtest(${PROJECT_NAME}_test_bitwise          test/bitwise.cpp)
-	catkin_add_gtest(${PROJECT_NAME}_test_button_filter    test/button_filter.cpp)
-	catkin_add_gtest(${PROJECT_NAME}_test_environment      test/environment.cpp)
-	catkin_add_gtest(${PROJECT_NAME}_test_expand           test/expand.cpp)
-	catkin_add_gtest(${PROJECT_NAME}_test_functional       test/functional.cpp)
-	catkin_add_gtest(${PROJECT_NAME}_test_geometry         test/geometry.cpp)
-	catkin_add_gtest(${PROJECT_NAME}_test_integer_sequence test/integer_sequence.cpp)
-	catkin_add_gtest(${PROJECT_NAME}_test_polynomial       test/polynomial.cpp)
-	catkin_add_gtest(${PROJECT_NAME}_test_timestamp        test/timestamp.cpp)
-	catkin_add_gtest(${PROJECT_NAME}_test_tuple            test/tuple.cpp)
-	catkin_add_gtest(${PROJECT_NAME}_test_voidt_t          test/void_t.cpp)
-
-	target_link_libraries(${PROJECT_NAME}_test_environment ${PROJECT_NAME})
-	target_link_libraries(${PROJECT_NAME}_test_expand      ${PROJECT_NAME})
-	target_link_libraries(${PROJECT_NAME}_test_polynomial  ${PROJECT_NAME})
+	add_subdirectory(test)
 endif()
 
 install(

include/dr_util/resource.hpp

@@ -0,0 +1,14 @@
+#pragma once
+#include <string>
+
+namespace dr {
+
+/// Convert a ROS package URL or a regular file URL to a file path.
+/**
+ * If the input does not contain an URI scheme it is treated as a relative file path and returned without modification.
+ *
+ * \throws if an unsupported URI scheme is encountered.
+ */
+std::string resolveResourceUrl(std::string const & url);
+
+}

package.xml

@@ -10,4 +10,13 @@
 
 	<buildtool_depend>catkin</buildtool_depend>
 	<depend>boost</depend>
+	<depend>dr_ros</depend>
+	<depend>roscpp</depend>
+	<depend>roslib</depend>
+
+	<depend>dr_log</depend>
+
+	<test_depend>catch2</test_depend>
+	<test_depend>dr_ros</test_depend>
+	<test_depend>dr_log</test_depend>	
 </package>

test/CMakeLists.txt

@@ -0,0 +1,53 @@
+find_package(Catch2 REQUIRED)
+include_directories(${Catch2_INCLUDE_DIRS})
+
+add_library(${PROJECT_NAME}_test_main EXCLUDE_FROM_ALL main.cpp)
+target_link_libraries(${PROJECT_NAME}_test_main ${PROJECT_NAME})
+
+define_property(GLOBAL PROPERTY CHECK_TARGET BRIEF_DOCS "." FULL_DOCS ".")
+set_property(GLOBAL PROPERTY CHECK_TARGET "check")
+
+if (NOT TARGET tests)
+	add_custom_target(tests)
+endif()
+
+function(declare_test name)
+	add_executable(${name} EXCLUDE_FROM_ALL ${ARGN})
+	target_link_libraries(${name} PRIVATE ${PROJECT_NAME}_test_main)
+	add_custom_target(check_${name} COMMAND ${name})
+	add_dependencies(tests ${name})
+
+	get_property(check_target GLOBAL PROPERTY CHECK_TARGET)
+	list(APPEND check_target COMMAND cmake -E cmake_echo_color --white --bold ${name} COMMAND ${name} DEPENDS ${name})
+	set_property(GLOBAL PROPERTY CHECK_TARGET "${check_target}")
+
+	add_test(NAME ${name} COMMAND ${name})
+endfunction()
+
+function(declare_tests prefix)
+	foreach(test ${ARGN})
+		declare_test(${prefix}${test} ${test}.cpp)
+	endforeach()
+endfunction()
+
+declare_tests(dr_util_
+	"bitwise"
+	"button_filter"
+	"environment"
+	"expand"
+	"functional"
+	"geometry"
+	"integer_sequence"
+	"polynomial"
+	"resource"
+	"timestamp"
+	"tuple"
+	"void_t"
+)
+
+get_property(check_target GLOBAL PROPERTY CHECK_TARGET)
+add_custom_target(${check_target} USES_TERMINAL)
+
+if (TARGET run_tests)
+	add_dependencies(run_tests check)
+endif()

test/bitwise.cpp

@@ -1,80 +1,82 @@
+// This repository
 #include "bitwise.hpp"
 
-#include <gtest/gtest.h>
-
-int main(int argc, char ** argv) {
-	testing::InitGoogleTest(&argc, argv);
-	return RUN_ALL_TESTS();
-}
+// Catch
+#include <catch2/catch.hpp>
 
 namespace dr {
 
-TEST(BitwiseTest, makeBitMask) {
-	// least significant bit
-	EXPECT_EQ(0x1u,        bitMask(0));
-	// some middle bit
-	EXPECT_EQ(0x4000u,     bitMask(14));
-	// most significant bit
-	EXPECT_EQ(0x80000000u, bitMask(31));
-}
-
-TEST(BitwiseTest, testTestBit) {
-	// least significant bit
-	EXPECT_TRUE(testBit(0x1, 0));
-	EXPECT_FALSE(testBit(0x1, 14));
-	EXPECT_FALSE(testBit(0x1, 31));
-
-	// some middle bit
-	EXPECT_FALSE(testBit(0x4000, 0));
-	EXPECT_TRUE(testBit(0x4000, 14));
-	EXPECT_FALSE(testBit(0x4000, 31));
-
-	// most significant bit
-	EXPECT_FALSE(testBit(0x80000000, 0));
-	EXPECT_FALSE(testBit(0x80000000, 14));
-	EXPECT_TRUE(testBit(0x80000000, 31));
-
-	// no value
-	EXPECT_FALSE(testBit(0, 0));
-	EXPECT_FALSE(testBit(0, 14));
-	EXPECT_FALSE(testBit(0, 31));
-
-	// all bits set to true
-	EXPECT_TRUE(testBit(0xFFFFFFFF, 0));
-	EXPECT_TRUE(testBit(0xFFFFFFFF, 14));
-	EXPECT_TRUE(testBit(0xFFFFFFFF, 31));
-}
-
-TEST(BitwiseTest, testTestRising) {
-	// no change for all bits set to 1
-	EXPECT_FALSE(testRising(0xFFFFFFFF, 0xFFFFFFFF, 0));
-	EXPECT_FALSE(testRising(0xFFFFFFFF, 0xFFFFFFFF, 14));
-	EXPECT_FALSE(testRising(0xFFFFFFFF, 0xFFFFFFFF, 31));
-
-	// no change for all bits set to 0
-	EXPECT_FALSE(testRising(0, 0, 0));
-	EXPECT_FALSE(testRising(0, 0, 14));
-	EXPECT_FALSE(testRising(0, 0, 31));
-
-	// ignore falling value
-	EXPECT_TRUE(testRising(0xFFFFFFFF, 0, 0));
-	EXPECT_TRUE(testRising(0xFFFFFFFF, 0, 14));
-	EXPECT_TRUE(testRising(0xFFFFFFFF, 0, 31));
-
-	// test rising edge
-	EXPECT_FALSE(testRising(0, 0xFFFFFFFF, 0));
-	EXPECT_FALSE(testRising(0, 0xFFFFFFFF, 14));
-	EXPECT_FALSE(testRising(0, 0xFFFFFFFF, 31));
-
-	// test specific rising edge
-	EXPECT_TRUE(testRising(0x1, 0, 0));
-	EXPECT_TRUE(testRising(0x4000, 0, 14));
-	EXPECT_TRUE(testRising(0x80000000, 0, 31));
-
-	// test wrong rising edge
-	EXPECT_FALSE(testRising(0x2, 0, 0));
-	EXPECT_FALSE(testRising(0x8000, 0, 14));
-	EXPECT_FALSE(testRising(0x40000000, 0, 31));
+TEST_CASE("BitwiseTest") {
+
+	SECTION("makeBitMask") {
+		// least significant bit
+		REQUIRE(       0x1u == bitMask(0));
+
+		// some middle bit
+		REQUIRE(    0x4000u == bitMask(14));
+
+		// most significant bit
+		REQUIRE(0x80000000u == bitMask(31));
+	}
+
+	SECTION("testTestBit") {
+		// least significant bit
+		REQUIRE(testBit(0x1, 0)  == true);
+		REQUIRE(testBit(0x1, 14) == false);
+		REQUIRE(testBit(0x1, 31) == false);
+
+		// some middle bit
+		REQUIRE(testBit(0x4000, 0)  == false);
+		REQUIRE(testBit(0x4000, 14) == true);
+		REQUIRE(testBit(0x4000, 31) == false);
+
+		// most significant bit
+		REQUIRE(testBit(0x80000000, 0)  == false);
+		REQUIRE(testBit(0x80000000, 14) == false);
+		REQUIRE(testBit(0x80000000, 31) == true);
+
+		// no value
+		REQUIRE(testBit(0, 0)  == false);
+		REQUIRE(testBit(0, 14) == false);
+		REQUIRE(testBit(0, 31) == false);
+
+		// all bits set to true
+		REQUIRE(testBit(0xFFFFFFFF, 0)  == true);
+		REQUIRE(testBit(0xFFFFFFFF, 14) == true);
+		REQUIRE(testBit(0xFFFFFFFF, 31) == true);
+	}
+
+	SECTION("testTestRising") {
+		// no change for all bits set to 1
+		REQUIRE(testRising(0xFFFFFFFF, 0xFFFFFFFF, 0)  == false);
+		REQUIRE(testRising(0xFFFFFFFF, 0xFFFFFFFF, 14) == false);
+		REQUIRE(testRising(0xFFFFFFFF, 0xFFFFFFFF, 31) == false);
+
+		// no change for all bits set to 0
+		REQUIRE(testRising(0, 0, 0)  == false);
+		REQUIRE(testRising(0, 0, 14) == false);
+		REQUIRE(testRising(0, 0, 31) == false);
+
+		// ignore falling value
+		REQUIRE(testRising(0xFFFFFFFF, 0, 0)  == true);
+		REQUIRE(testRising(0xFFFFFFFF, 0, 14) == true);
+		REQUIRE(testRising(0xFFFFFFFF, 0, 31) == true);
+
+		// test rising edge
+		REQUIRE(testRising(0, 0xFFFFFFFF, 0)  == false);
+		REQUIRE(testRising(0, 0xFFFFFFFF, 14) == false);
+		REQUIRE(testRising(0, 0xFFFFFFFF, 31) == false);
+
+		// test specific rising edge
+		REQUIRE(testRising(0x1, 0, 0)         == true);
+		REQUIRE(testRising(0x4000, 0, 14)     == true);
+		REQUIRE(testRising(0x80000000, 0, 31) == true);
+
+		// test wrong rising edge
+		REQUIRE(testRising(0x2, 0, 0)         == false);
+		REQUIRE(testRising(0x8000, 0, 14)     == false);
+		REQUIRE(testRising(0x40000000, 0, 31) == false);
+	}
 }
 
 }