Add fake time

.travis.yml

@@ -74,14 +74,14 @@ install:
 script:
 - if [[ "${BUILD_TARGET}" = "gcc_build" ]]; then
     make;
-    make install;
+    make default install;
     make docs;
     make run_unit_tests;
     (cd example/takeoff_land && mkdir build && cd build && cmake .. && make);
     (cd example/fly_mission && mkdir build && cd build && cmake .. && make);
     make clean;
     make BUILD_TYPE=Release;
-    make install;
+    make default install;
     make run_unit_tests;
   fi
 - if [[ "${BUILD_TARGET}" = "coverage_build" ]]; then
@@ -91,22 +91,22 @@ script:
 
 - if [[ "${BUILD_TARGET}" = "docker_build" ]]; then
     docker run -it -v $TRAVIS_BUILD_DIR:/home/docker1000/src/DroneCore:rw dronecore/dronecore make;
-    docker run -it -v $TRAVIS_BUILD_DIR:/home/docker1000/src/DroneCore:rw dronecore/dronecore make install;
+    docker run -it -v $TRAVIS_BUILD_DIR:/home/docker1000/src/DroneCore:rw dronecore/dronecore make default install;
     docker run -it -v $TRAVIS_BUILD_DIR:/home/docker1000/src/DroneCore:rw dronecore/dronecore make run_unit_tests;
     docker run -it -v $TRAVIS_BUILD_DIR:/home/docker1000/src/DroneCore:rw dronecore/dronecore make fix_style;
     docker run -it -v $TRAVIS_BUILD_DIR:/home/docker1000/src/DroneCore:rw dronecore/dronecore make docs;
     docker run -it -v $TRAVIS_BUILD_DIR:/home/docker1000/src/DroneCore:rw dronecore/dronecore make clean;
     docker run -it -v $TRAVIS_BUILD_DIR:/home/docker1000/src/DroneCore:rw dronecore/dronecore make BUILD_TYPE=Release;
-    docker run -it -v $TRAVIS_BUILD_DIR:/home/docker1000/src/DroneCore:rw dronecore/dronecore make install;
+    docker run -it -v $TRAVIS_BUILD_DIR:/home/docker1000/src/DroneCore:rw dronecore/dronecore make default install;
     docker run -it -v $TRAVIS_BUILD_DIR:/home/docker1000/src/DroneCore:rw dronecore/dronecore make run_unit_tests;
   fi
 - if [[ "${BUILD_TARGET}" = "osx_build" ]]; then
     make;
-    make install;
+    make default install;
     make run_unit_tests;
     make clean;
     make BUILD_TYPE=Release;
-    make install;
+    make default install;
     make run_unit_tests;
   fi
 

CMakeLists.txt

@@ -1,11 +1,14 @@
 cmake_minimum_required(VERSION 2.8.12)
 
 set(CMAKE_INSTALL_PREFIX "../install" CACHE PATH "default cache path")
+
 project(dronecore)
 
 # Add DEBUG define for Debug target
 set(CMAKE_CXX_FLAGS_DEBUG "-DDEBUG")
 
+# This finds thread libs on Linux, Mac, and Windows.
+find_package(Threads REQUIRED)
 
 if(NOT MSVC)
     # Clang and GCC
@@ -33,7 +36,6 @@ if(NOT MSVC)
         set(warnings "${warnings} -Wuseless-cast -Wlogical-op")
     endif()
 
-    set(platform_libs "pthread")
     set(curl_lib "curl")
 
 else()
@@ -42,12 +44,12 @@ else()
         -std=c++11
         -DWINDOWS
         -DCURL_STATICLIB
-        /MD
     )
+    set(CMAKE_CXX_FLAGS_RELEASE "/MD")
+    set(CMAKE_CXX_FLAGS_DEBUG "/MDd")
 
     set(warnings "-WX -W2")
 
-    set(platform_libs "Ws2_32.lib")
     # You need to call cmake with -DWIN_CURL_INCLUDE_DIR:STRING="C:\\curl-7.54.1\\include"
     if(NOT WIN_CURL_INCLUDE_DIR)
         message(FATAL_ERROR "Please provide argument -DWIN_CURL_INCLUDE_DIR:STRING=\"path_to_curl_include\"")
@@ -108,8 +110,14 @@ if (IOS)
     include_directories(curl-android-ios/prebuilt-with-ssl/ios/include)
 endif()
 
+if (IOS OR ANDROID OR MSVC)
+    set(library_type "STATIC")
+else()
+    set(library_type "SHARED")
+endif()
+
 # We build one static library.
-add_library(dronecore STATIC
+add_library(dronecore ${library_type}
     core/global_include.cpp
     core/connection.cpp
     core/device.cpp
@@ -132,6 +140,12 @@ add_library(dronecore STATIC
     ${plugin_source_files}
 )
 
+target_link_libraries(dronecore
+    ${CMAKE_THREAD_LIBS_INIT}
+    ${curl_lib}
+    tinyxml2
+)
+
 # cmake should check for C++11
 set_property(TARGET dronecore PROPERTY CXX_STANDARD 11)
 set_property(TARGET dronecore PROPERTY CXX_STANDARD_REQUIRED ON)
@@ -144,7 +158,7 @@ set_target_properties(dronecore
 add_subdirectory(libs/tinyxml2 EXCLUDE_FROM_ALL)
 include_directories(SYSTEM libs/tinyxml2)
 
-# We support install in order to use the header and static library files in
+# We support install in order to use the header and library files in
 # other applications.
 if(ANDROID)
     set(lib_path "lib/android/${ANDROID_ABI}")
@@ -155,6 +169,7 @@ else()
 endif()
 
 install(TARGETS dronecore
+    EXPORT dronecore-targets
     DESTINATION ${lib_path}
 )
 
@@ -195,6 +210,14 @@ if(NOT IOS AND NOT ANDROID)
         ${unit_tests_src}
     )
 
+    if (MSVC)
+        # We need this to prevent linking errors from happening in the Windows build.
+        target_compile_definitions(unit_tests_runner PRIVATE -DGTEST_LINKED_AS_SHARED_LIBRARY)
+        target_compile_options(unit_tests_runner PUBLIC "/wd4251" "/wd4275")
+    endif()
+
+    target_compile_definitions(unit_tests_runner PRIVATE FAKE_TIME=1)
+
     set_target_properties(unit_tests_runner
         PROPERTIES COMPILE_FLAGS ${warnings}
     )
@@ -203,11 +226,8 @@ if(NOT IOS AND NOT ANDROID)
         dronecore
         gtest
         gtest_main
-        ${platform_libs}
-        ${curl_lib}
         gmock
         ${additional_libs}
-        tinyxml2
     )
 
     add_test(unit_tests
@@ -219,6 +239,7 @@ if(NOT IOS AND NOT ANDROID)
 
     # This includes all GTests that run integration tests
     add_executable(integration_tests_runner
+        core/unittests_main.cpp
         ${integration_tests_src}
     )
 
@@ -230,12 +251,16 @@ if(NOT IOS AND NOT ANDROID)
         dronecore
         gtest
         gtest_main
-        ${platform_libs}
-        ${curl_lib}
+        gmock
         ${additional_libs}
-        tinyxml2
     )
 
+    if (MSVC)
+        # We need this to prevent linking errors from happening in the Windows build.
+        target_compile_definitions(integration_tests_runner PRIVATE -DGTEST_LINKED_AS_SHARED_LIBRARY)
+        target_compile_options(integration_tests_runner PUBLIC "/wd4251" "/wd4275")
+    endif()
+
     add_test(integration_tests
         integration_tests_runner
     )
@@ -291,6 +316,5 @@ if (DROP_DEBUG EQUAL 1)
 
     target_link_libraries(drop_debug
         dronecore
-        ${platform_libs}
     )
 endif()

appveyor.yml

@@ -52,7 +52,7 @@ build_script:
   - if "%configuration%"=="Debug" (
       cmake -DWIN_CURL_INCLUDE_DIR:STRING="C:\curl-7.55.1\include" -DWIN_CURL_LIB:STRING="C:\curl-7.55.1\builds\libcurl-vc14-x64-debug-static-ipv6-sspi-winssl\lib\libcurl_a_debug.lib" -G "Visual Studio 14 2015 Win64" ..
     ) else (
-      cmake -DWIN_CURL_INCLUDE_DIR:STRING="C:\curl-7.55.1\include" -DWIN_CURL_LIB:STRING="C:\curl-7.55.1\builds\libcurl-vc14-x64-release-static-ipv6-sspi-winssl\lib\libcurl_a.lib" -G "Visual Studio 14 2015 Win64" -DBUILD_SHARED_LIBS=OFF ..
+      cmake -DWIN_CURL_INCLUDE_DIR:STRING="C:\curl-7.55.1\include" -DWIN_CURL_LIB:STRING="C:\curl-7.55.1\builds\libcurl-vc14-x64-release-static-ipv6-sspi-winssl\lib\libcurl_a.lib" -G "Visual Studio 14 2015 Win64" ..
     )
   - if "%configuration%"=="Debug" (
       cmake --build . --target install --config Debug
@@ -62,10 +62,19 @@ build_script:
 
 test: on
 
+# We need to manually copy the dlls for now, otherwise they are not found.
 test_script:
   - cd C:\dronecore
   - if "%configuration%"=="Debug" (
-      build\Debug\unit_tests_runner.exe
+      cp build\libs\gtest\googlemock\gtest\Debug\gtest.dll build\Debug\ &&
+      cp build\libs\gtest\googlemock\gtest\Debug\gtest_main.dll build\Debug\ &&
+      cp build\libs\gtest\googlemock\Debug\gmock.dll build\Debug\ &&
+      cd build\Debug &&
+      unit_tests_runner.exe
     ) else (
-      build\Release\unit_tests_runner.exe
+      cp build\libs\gtest\googlemock\gtest\Release\gtest.dll build\Release\ &&
+      cp build\libs\gtest\googlemock\gtest\Release\gtest_main.dll build\Release\ &&
+      cp build\libs\gtest\googlemock\Release\gmock.dll build\Release\ &&
+      cd build\Release &&
+      unit_tests_runner.exe
     )

core/call_every_handler.cpp

@@ -2,7 +2,8 @@
 
 namespace dronecore {
 
-CallEveryHandler::CallEveryHandler()
+CallEveryHandler::CallEveryHandler(Time &time) :
+    _time(time)
 {
 }
 
@@ -14,7 +15,7 @@ void CallEveryHandler::add(std::function<void()> callback, float interval_s, voi
 {
     auto new_entry = std::make_shared<Entry>();
     new_entry->callback = callback;
-    new_entry->last_time = steady_time();
+    new_entry->last_time = _time.steady_time();
     new_entry->interval_s = interval_s;
 
     void *new_cookie = static_cast<void *>(new_entry.get());
@@ -45,7 +46,7 @@ void CallEveryHandler::reset(const void *cookie)
 
     auto it = _entries.find(const_cast<void *>(cookie));
     if (it != _entries.end()) {
-        it->second->last_time = steady_time();
+        it->second->last_time = _time.steady_time();
     }
 }
 
@@ -65,9 +66,9 @@ void CallEveryHandler::run_once()
 
     for (auto it = _entries.begin(); it != _entries.end(); ++it) {
 
-        if (elapsed_since_s(it->second->last_time) > double(it->second->interval_s)) {
+        if (_time.elapsed_since_s(it->second->last_time) > double(it->second->interval_s)) {
 
-            shift_steady_time_by(it->second->last_time, double(it->second->interval_s));
+            _time.shift_steady_time_by(it->second->last_time, double(it->second->interval_s));
 
             if (it->second->callback) {
 

core/call_every_handler.h

@@ -11,7 +11,7 @@ namespace dronecore {
 class CallEveryHandler
 {
 public:
-    CallEveryHandler();
+    CallEveryHandler(Time &time);
     ~CallEveryHandler();
 
     // delete copy and move constructors and assign operators
@@ -36,6 +36,8 @@ class CallEveryHandler
 
     std::map<void *, std::shared_ptr<Entry>> _entries {};
     std::mutex _entries_mutex {};
+
+    Time &_time;
 };
 
 } // namespace dronecore