Merge branch 'master' of https://github.com/badgerloop-software/pod-embedded into hvIOX_refactor

Author: mjkpolo

.github/workflows/CI.yml

@@ -4,10 +4,12 @@ on: [push, pull_request]
 
 jobs:
   build:
-
     runs-on: ubuntu-latest
-    
     steps:
     - uses: actions/checkout@v1
-    - name: test
-      run: ./deploy.sh build && ./deploy.sh clean
+    - name: Install GTest
+      run: ./deploy.sh gtest-setup
+    - name: Build Executables
+      run: ./deploy.sh build
+    - name: Run Tests
+      run: ./out/run_all_tests

CMakeLists.txt

@@ -16,11 +16,17 @@ set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/out)
 
 set(CMAKE_CXX_STANDARD 11)
 
-#add cmake projects from subdirectories
+# Add cmake projects from subdirectories
 add_subdirectory(embedded/app)
 add_subdirectory(embedded/data)
 add_subdirectory(embedded/drivers)
 add_subdirectory(embedded/examples)
 add_subdirectory(embedded/peripherals)
 add_subdirectory(embedded/utils)
 add_subdirectory(middleware)
+
+# Do not compile tests when cross-compiling until we determine best way to include cross compiled GTest libs
+# Cross-compiled system name is "BeagleBone"
+if(${CMAKE_SYSTEM_NAME} MATCHES "Linux")
+    add_subdirectory(Test)
+endif()

README.md

@@ -56,7 +56,7 @@ Then, to build the executable:
 
 ### Adding Tests
 
-In order to add a test or example, put a .c or .cpp file into the respective "example" folder. Make sure that your file contains a "main" function.
+In order to add a test or example, put a .c or .cpp file into the respective "example" folder. Make sure that your file contains a "main" function. Be sure to add to the file to the respective CMakeLists.txt file if necessary.
 
 ## Directory Structure
 ```
@@ -88,6 +88,9 @@ pod/
  |--autocoding/          /* Auto-coding python scripts and data.xml */
  |  |--templates/        /* Template files to be autocoded */
  |
+ |--Test/                /* GTest Unit & Component Tests */
+ |  |--example/          /* Sample GTest Test */
+ |
  ```
 
  ### Structural Conventions

Test/CMakeLists.txt

@@ -0,0 +1,41 @@
+project(testlib VERSION 1.0
+                DESCRIPTION "Tests"
+                LANGUAGES CXX)
+
+# Define sources
+set(dependencies example/Test_GTest.cpp)
+
+set(libraries middleware 
+              data 
+              peripherals 
+              drivers
+              Threads::Threads) #so pthreads work
+                
+# Configure tests library                
+add_library(tests ${dependencies})
+target_link_libraries(tests PRIVATE ${libraries})
+
+# Run Autocoder
+add_dependencies(tests autocoder)
+
+export(TARGETS tests FILE TestsConfig.cmake)
+                
+
+# Locate Requirements
+find_package(GTest REQUIRED)
+find_package(Threads REQUIRED)
+include_directories(${GTEST_INCLUDE_DIRS})
+
+
+# Run Autocoder
+add_dependencies(tests autocoder)
+
+
+# Add executable
+add_executable(run_all_tests run_all_tests.cpp ${dependencies})
+
+target_link_libraries(run_all_tests ${GTEST_LIBRARIES} pthread ${libraries})
+target_include_directories(app PUBLIC include)
+
+
+

Test/README.md

@@ -0,0 +1,31 @@
+# Testing
+
+
+- Link to GTest Primer [Click here!](https://github.com/google/googletest/blob/master/googletest/docs/primer.md)
+
+## Creating a Test
+
+- Find the directory for the component/subsystem you would like to test, if it does not exist, create one
+- Create a file `Test_<Thing you would like to test>.cpp`
+- Add your file as a source in CMakeLists.txt
+- Write your tests. Follow the test template if needed
+
+## Test Template
+
+```c
+/**
+ * Author: 
+*/
+
+#include <gtest/gtest.h>
+
+TEST(ExampleTest, VerifyWorkingGTest){
+    EXPECT_NE(1,0);
+    EXPECT_GE(1,1);
+    EXPECT_GE(1,0);
+    EXPECT_LE(1,1);
+    EXPECT_LE(0,1);
+    
+    ASSERT_EQ(0,0);
+}
+```

Test/example/Test_GTest.cpp

@@ -0,0 +1,15 @@
+/**
+ * Author: Rohan
+*/
+
+#include <gtest/gtest.h>
+
+TEST(ExampleTest, VerifyWorkingGTest){
+    EXPECT_NE(1,0);
+    EXPECT_GE(1,1);
+    EXPECT_GE(1,0);
+    EXPECT_LE(1,1);
+    EXPECT_LE(0,1);
+    
+    ASSERT_EQ(0,0);
+}

Test/run_all_tests.cpp

@@ -0,0 +1,7 @@
+#include <gtest/gtest.h>
+
+// Run all GTest Tests
+int main(int argc, char **argv) {
+    testing::InitGoogleTest(&argc, argv);
+    return RUN_ALL_TESTS();
+}

deploy.sh

@@ -49,6 +49,19 @@ elif [ "$1" == "cross" ]; then
 		exit 1
 	fi
 	echo "cross build finished"
+elif [ "$1" == "gtest-setup" ]; then
+	echo "Installing Dependencies (Assumes Debian based System) - Sudo access required"
+	sudo apt-get update
+	sudo apt-get install -y build-essential
+	sudo apt-get install -y cmake libgtest-dev
+	
+	echo "Building GTest"
+	cd /usr/src/gtest
+	sudo cmake CMakeLists.txt
+	sudo make
+	sudo cp *.a /usr/lib
+	
+	echo "GTest Install Complete"
 elif [ "$1" == "clean" ]; then
 	rm -rf build
 	rm -rf out

embedded/app/CMakeLists.txt

@@ -33,10 +33,8 @@ add_dependencies(app autocoder)
 #export app library so it can be used externally
 export(TARGETS app FILE AppLibConfig.cmake)
 
-#configure HV and LV executables
+#configure executable
 find_package(Threads REQUIRED)
 add_executable(badgerloop main/badgerloop.cpp ${dependecies})
-
 target_link_libraries(badgerloop PRIVATE ${libraries})
-
 target_include_directories(badgerloop PRIVATE include)

embedded/examples/CMakeLists.txt

@@ -55,4 +55,4 @@ set_target_properties(bmsDisplay
                       imu_test
                       presTest
                       PROPERTIES
-                      RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/out/tests)
+                      RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/out/tests)