GoogleTestによるユニットテスト環境を追加 (#9)

* googletest環境を追加

* Add test steps to github workflow

* googletestのインストール方法を修正

* テスト失敗時に詳細を表示する

* jointクラスの初期化テストを追加

* testディレクトリにもcpplintを適用する

Author: Shota Aoki

.github/workflows/build_test.yaml

@@ -11,7 +11,7 @@ jobs:
       - uses: actions/checkout@v2
       - run: .tools/cpplint.bash
 
-  build:
+  build_and_test:
     needs: lint
     strategy:
       fail-fast: false # 他のjobが失敗してもキャンセルしない
@@ -26,6 +26,15 @@ jobs:
           cd DynamixelSDK/c++/build/linux64
           make
           sudo make install
+      - name: Install GoogleTest
+        run: |
+          cd ..
+          curl -OL https://github.com/google/googletest/archive/release-1.11.0.tar.gz
+          tar -xvf release-1.11.0.tar.gz
+          mkdir googletest-release-1.11.0/build
+          cd googletest-release-1.11.0/build
+          cmake ..
+          sudo make install
       - name: Install dependencies
         run: sudo apt install libyaml-cpp-dev
       - uses: actions/checkout@v2
@@ -34,3 +43,5 @@ jobs:
       - name: Build Samples
         run: |
           ./samples/samples01/build_samples.bash
+      - name: Test library
+        run: ./rt_manipulators_lib/run_test_library.bash

.tools/cpplint.bash

@@ -7,7 +7,7 @@ LIB_DIR=$SCRIPT_DIR/../rt_manipulators_lib
 SAMPLES01_DIR=$SCRIPT_DIR/../samples/samples01
 
 function cpplint_check () {
-    cpplint --filter=-build/c++11,-runtime/reference --linelength=100 --extensions=hpp,cpp $1/include/* $1/src/*
+    cpplint --filter=-build/c++11,-runtime/reference --linelength=100 --extensions=hpp,cpp $1/include/* $1/src/* $1/test/*
 }
 
 echo "cpplintを実行し、コードフォーマットをチェックします"

rt_manipulators_lib/README.md

@@ -59,3 +59,38 @@ $ ./uninstall_library.bash
 ## ライブラリの使い方
 
 ライブラリの使い方は[サンプル集のREADME.md](../samples/README.md)を参照してください。
+
+## ライブラリのテスト
+
+### googletestのインストール
+
+```sh
+$ mkdir ~/gtest
+$ cd ~/gtest
+$ curl -OL https://github.com/google/googletest/archive/release-1.11.0.tar.gz
+$ tar -xvf release-1.11.0.tar.gz
+$ mkdir googletest-release-1.11.0/build
+$ cd googletest-release-1.11.0/build
+$ cmake ..
+$ sudo make install
+```
+
+### テストの実行
+
+```sh
+$ ./run_test_library.bash
+ライブラリをテストします
+-- The C compiler identification is GNU 7.5.0
+-- The CXX compiler identification is GNU 7.5.0
+-- Check for working C compiler: /usr/bin/cc
+-- Check for working C compiler: /usr/bin/cc -- works
+-- Detecting C compiler ABI info
+...
+    Start 1: JointTest.initialize_id
+1/1 Test #1: JointTest.initialize_id ..........   Passed    0.00 sec
+
+100% tests passed, 0 tests failed out of 1
+
+Total Test time (real) =   0.00 sec
+ライブラリをテストしました
+```

rt_manipulators_lib/run_test_library.bash

@@ -0,0 +1,19 @@
+#!/usr/bin/env bash
+
+set -e
+
+BUILD_DIR=build
+
+echo "ライブラリをテストします"
+cd $(dirname $0)/test
+
+if [ ! -d $BUILD_DIR ]; then
+    mkdir $BUILD_DIR
+fi
+
+cd $BUILD_DIR
+cmake ..
+make
+CTEST_OUTPUT_ON_FAILURE=1 ctest
+
+echo "ライブラリをテストしました"

rt_manipulators_lib/test/CMakeLists.txt

@@ -0,0 +1,23 @@
+cmake_minimum_required(VERSION 3.10)
+
+# set the project name and version
+project(rt_manipulators_cpp_test VERSION 1.0)
+
+# specify the C++ standard
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD_REQUIRED True)
+
+enable_testing()
+
+find_package(GTest REQUIRED)
+
+include(GoogleTest)
+
+add_executable(test_joint test_joint.cpp)
+target_link_libraries(test_joint
+    GTest::GTest
+    GTest::Main
+    rt_manipulators_cpp
+)
+
+gtest_discover_tests(test_joint)

rt_manipulators_lib/test/test_joint.cpp

@@ -0,0 +1,58 @@
+// Copyright 2021 RT Corporation
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <memory>
+
+#include "gtest/gtest.h"
+#include "rt_manipulators_cpp/joint.hpp"
+
+class JointTestFixture : public ::testing::Test {
+ protected:
+  virtual void SetUp() {
+    uint8_t id = 0;
+    uint8_t operating_mode = 1;
+    double min_position_limit = 2.0;
+    double max_position_limit = 3.0;
+    double current_limit_when_position_exceeds_limit = 4.0;
+    test_joint = std::make_shared<joint::Joint>(
+      id, operating_mode, max_position_limit, min_position_limit,
+      current_limit_when_position_exceeds_limit);
+  }
+
+  virtual void TearDown() {
+    test_joint.reset();
+  }
+
+  std::shared_ptr<joint::Joint> test_joint;
+};
+
+TEST_F(JointTestFixture, initialize_id) {
+  EXPECT_EQ(test_joint->id(), 0);
+}
+
+TEST_F(JointTestFixture, initialize_operating_mode) {
+  EXPECT_EQ(test_joint->operating_mode(), 1);
+}
+
+TEST_F(JointTestFixture, initialize_min_position_limit) {
+  EXPECT_DOUBLE_EQ(test_joint->min_position_limit(), 2.0);
+}
+
+TEST_F(JointTestFixture, initialize_max_position_limit) {
+  EXPECT_DOUBLE_EQ(test_joint->max_position_limit(), 3.0);
+}
+
+TEST_F(JointTestFixture, initialize_current_limit) {
+  EXPECT_DOUBLE_EQ(test_joint->current_limit_when_position_exceeds_limit(), 4.0);
+}