update to use new memory_tools from osrf_testing_tools_cpp (#238)

* remove old memory tools * updates to use new memory_tools from osrf_testing_tools_cpp * fixup new test * fix lambda captures for Windows * uncrustify fix * extra_test_env -> rmw_implementation_env_var * Stray extra_test_libraries * Use default rmw impl outside of for_each_rmw_implementation loop * style fixup * fix typo
ros2 · Jun 12, 2018 · 9a84b2d · 9a84b2d
1 parent 0f8b3ee
commit 9a84b2d
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Showing 27 changed files with 503 additions and 1,397 deletions.
diff --git a/rcl/package.xml b/rcl/package.xml
@@ -35,6 +35,7 @@
   <test_depend>rmw_implementation_cmake</test_depend>
   <test_depend>launch</test_depend>
   <test_depend>example_interfaces</test_depend>
+  <test_depend>osrf_testing_tools_cpp</test_depend>
   <test_depend>std_msgs</test_depend>
 
   <export>

diff --git a/rcl/test/CMakeLists.txt b/rcl/test/CMakeLists.txt
@@ -6,80 +6,82 @@ find_package(std_msgs REQUIRED)
 
 find_package(rmw_implementation_cmake REQUIRED)
 
+find_package(osrf_testing_tools_cpp REQUIRED)
+
+get_target_property(memory_tools_ld_preload_env_var
+  osrf_testing_tools_cpp::memory_tools LIBRARY_PRELOAD_ENVIRONMENT_VARIABLE)
+
 include(cmake/rcl_add_custom_executable.cmake)
 include(cmake/rcl_add_custom_gtest.cmake)
 include(cmake/rcl_add_custom_launch_test.cmake)
 
-set(extra_test_libraries)
-set(extra_test_env)
 set(extra_lib_dirs "${rcl_lib_dir}")
 
 # finding gtest once in the highest scope
 # prevents finding it repeatedly in each local scope
 ament_find_gtest()
 
-# This subdirectory extends both extra_test_libraries, extra_test_env, and extra_lib_dirs.
-add_subdirectory(memory_tools)
-
 macro(test_target)
   find_package(${rmw_implementation} REQUIRED)
   test_target_function()
 endmacro()
 
 function(test_target_function)
   message(STATUS "Creating tests for '${rmw_implementation}'")
-  list(APPEND extra_test_env RMW_IMPLEMENTATION=${rmw_implementation})
+  set(rmw_implementation_env_var RMW_IMPLEMENTATION=${rmw_implementation})
 
   # Gtests
 
   rcl_add_custom_gtest(test_client${target_suffix}
     SRCS rcl/test_client.cpp
-    ENV ${extra_test_env}
+    INCLUDE_DIRS ${osrf_testing_tools_cpp_INCLUDE_DIRS}
+    ENV ${rmw_implementation_env_var}
     APPEND_LIBRARY_DIRS ${extra_lib_dirs}
-    LIBRARIES ${PROJECT_NAME} ${extra_test_libraries}
+    LIBRARIES ${PROJECT_NAME}
     AMENT_DEPENDENCIES ${rmw_implementation} "example_interfaces"
   )
 
   rcl_add_custom_gtest(test_time${target_suffix}
     SRCS rcl/test_time.cpp
-    ENV ${extra_test_env}
+    ENV ${rmw_implementation_env_var} ${memory_tools_ld_preload_env_var}
     APPEND_LIBRARY_DIRS ${extra_lib_dirs}
-    LIBRARIES ${PROJECT_NAME} ${extra_test_libraries}
+    LIBRARIES ${PROJECT_NAME} osrf_testing_tools_cpp::memory_tools
     AMENT_DEPENDENCIES ${rmw_implementation}
   )
 
   rcl_add_custom_gtest(test_common${target_suffix}
     SRCS rcl/test_common.cpp
     ENV
-      ${extra_test_env}
+      ${rmw_implementation_env_var}
       EMPTY_TEST=
       NORMAL_TEST=foo
     APPEND_LIBRARY_DIRS ${extra_lib_dirs}
-    LIBRARIES ${PROJECT_NAME} ${extra_test_libraries}
+    LIBRARIES ${PROJECT_NAME}
     AMENT_DEPENDENCIES ${rmw_implementation}
   )
 
   rcl_add_custom_gtest(test_get_node_names${target_suffix}
     SRCS rcl/test_get_node_names.cpp
-    ENV ${extra_test_env}
+    ENV ${rmw_implementation_env_var}
     APPEND_LIBRARY_DIRS ${extra_lib_dirs}
-    LIBRARIES ${PROJECT_NAME} ${extra_test_libraries}
+    LIBRARIES ${PROJECT_NAME}
     AMENT_DEPENDENCIES ${rmw_implementation}
   )
 
   rcl_add_custom_gtest(test_lexer${target_suffix}
     SRCS rcl/test_lexer.cpp
-    ENV ${extra_test_env}
+    ENV ${rmw_implementation_env_var}
     APPEND_LIBRARY_DIRS ${extra_lib_dirs}
-    LIBRARIES ${PROJECT_NAME} ${extra_test_libraries}
+    LIBRARIES ${PROJECT_NAME}
     AMENT_DEPENDENCIES ${rmw_implementation}
   )
 
   rcl_add_custom_gtest(test_lexer_lookahead${target_suffix}
     SRCS rcl/test_lexer_lookahead.cpp
-    ENV ${extra_test_env}
+    INCLUDE_DIRS ${osrf_testing_tools_cpp_INCLUDE_DIRS}
+    ENV ${rmw_implementation_env_var}
     APPEND_LIBRARY_DIRS ${extra_lib_dirs}
-    LIBRARIES ${PROJECT_NAME} ${extra_test_libraries}
+    LIBRARIES ${PROJECT_NAME}
     AMENT_DEPENDENCIES ${rmw_implementation}
   )
 
@@ -93,118 +95,130 @@ function(test_target_function)
   endif()
   rcl_add_custom_gtest(test_graph${target_suffix}
     SRCS rcl/test_graph.cpp
-    ENV ${extra_test_env}
+    INCLUDE_DIRS ${osrf_testing_tools_cpp_INCLUDE_DIRS}
+    ENV ${rmw_implementation_env_var}
     APPEND_LIBRARY_DIRS ${extra_lib_dirs}
-    LIBRARIES ${PROJECT_NAME} ${extra_test_libraries}
+    LIBRARIES ${PROJECT_NAME}
     AMENT_DEPENDENCIES ${rmw_implementation} "example_interfaces" "std_msgs"
     ${SKIP_TEST}
   )
 
   rcl_add_custom_gtest(test_rcl${target_suffix}
     SRCS rcl/test_rcl.cpp
-    ENV ${extra_test_env}
+    ENV ${rmw_implementation_env_var} ${memory_tools_ld_preload_env_var}
     APPEND_LIBRARY_DIRS ${extra_lib_dirs}
-    LIBRARIES ${PROJECT_NAME} ${extra_test_libraries}
+    LIBRARIES ${PROJECT_NAME} osrf_testing_tools_cpp::memory_tools
     AMENT_DEPENDENCIES ${rmw_implementation}
   )
 
   rcl_add_custom_gtest(test_node${target_suffix}
     SRCS rcl/test_node.cpp
-    ENV ${extra_test_env}
+    INCLUDE_DIRS ${osrf_testing_tools_cpp_INCLUDE_DIRS}
+    ENV ${rmw_implementation_env_var} ${memory_tools_ld_preload_env_var}
     APPEND_LIBRARY_DIRS ${extra_lib_dirs}
-    LIBRARIES ${PROJECT_NAME} ${extra_test_libraries}
+    LIBRARIES ${PROJECT_NAME} osrf_testing_tools_cpp::memory_tools
     AMENT_DEPENDENCIES ${rmw_implementation}
   )
 
   rcl_add_custom_gtest(test_arguments${target_suffix}
     SRCS rcl/test_arguments.cpp
-    ENV ${extra_test_env}
+    ENV ${rmw_implementation_env_var}
     APPEND_LIBRARY_DIRS ${extra_lib_dirs}
-    LIBRARIES ${PROJECT_NAME} ${extra_test_libraries}
+    LIBRARIES ${PROJECT_NAME}
   )
 
   rcl_add_custom_gtest(test_remap${target_suffix}
     SRCS rcl/test_remap.cpp
-    ENV ${extra_test_env}
+    INCLUDE_DIRS ${osrf_testing_tools_cpp_INCLUDE_DIRS}
+    ENV ${rmw_implementation_env_var}
     APPEND_LIBRARY_DIRS ${extra_lib_dirs}
-    LIBRARIES ${PROJECT_NAME} ${extra_test_libraries}
+    LIBRARIES ${PROJECT_NAME}
   )
 
   rcl_add_custom_gtest(test_remap_integration${target_suffix}
     SRCS rcl/test_remap_integration.cpp
+    INCLUDE_DIRS ${osrf_testing_tools_cpp_INCLUDE_DIRS}
     TIMEOUT 200
-    ENV ${extra_test_env}
+    ENV ${rmw_implementation_env_var}
     APPEND_LIBRARY_DIRS ${extra_lib_dirs}
-    LIBRARIES ${PROJECT_NAME} ${extra_test_libraries}
+    LIBRARIES ${PROJECT_NAME}
     AMENT_DEPENDENCIES "std_msgs" "example_interfaces"
   )
 
   rcl_add_custom_gtest(test_guard_condition${target_suffix}
     SRCS rcl/test_guard_condition.cpp
-    ENV ${extra_test_env}
+    INCLUDE_DIRS ${osrf_testing_tools_cpp_INCLUDE_DIRS}
+    ENV ${rmw_implementation_env_var} ${memory_tools_ld_preload_env_var}
     APPEND_LIBRARY_DIRS ${extra_lib_dirs}
-    LIBRARIES ${PROJECT_NAME} ${extra_test_libraries}
+    LIBRARIES ${PROJECT_NAME} osrf_testing_tools_cpp::memory_tools
     AMENT_DEPENDENCIES ${rmw_implementation}
   )
 
   rcl_add_custom_gtest(test_publisher${target_suffix}
     SRCS rcl/test_publisher.cpp
-    ENV ${extra_test_env}
+    INCLUDE_DIRS ${osrf_testing_tools_cpp_INCLUDE_DIRS}
+    ENV ${rmw_implementation_env_var}
     APPEND_LIBRARY_DIRS ${extra_lib_dirs}
-    LIBRARIES ${PROJECT_NAME} ${extra_test_libraries}
+    LIBRARIES ${PROJECT_NAME}
     AMENT_DEPENDENCIES ${rmw_implementation} "std_msgs"
   )
 
   rcl_add_custom_gtest(test_service${target_suffix}
     SRCS rcl/test_service.cpp
-    ENV ${extra_test_env}
+    INCLUDE_DIRS ${osrf_testing_tools_cpp_INCLUDE_DIRS}
+    ENV ${rmw_implementation_env_var}
     APPEND_LIBRARY_DIRS ${extra_lib_dirs}
-    LIBRARIES ${PROJECT_NAME} ${extra_test_libraries}
+    LIBRARIES ${PROJECT_NAME}
     AMENT_DEPENDENCIES ${rmw_implementation} "example_interfaces"
   )
 
   rcl_add_custom_gtest(test_subscription${target_suffix}
     SRCS rcl/test_subscription.cpp
-    ENV ${extra_test_env}
+    INCLUDE_DIRS ${osrf_testing_tools_cpp_INCLUDE_DIRS}
+    ENV ${rmw_implementation_env_var}
     APPEND_LIBRARY_DIRS ${extra_lib_dirs}
-    LIBRARIES ${PROJECT_NAME} ${extra_test_libraries}
+    LIBRARIES ${PROJECT_NAME}
     AMENT_DEPENDENCIES ${rmw_implementation} "std_msgs"
   )
 
   rcl_add_custom_gtest(test_wait${target_suffix}
     SRCS rcl/test_wait.cpp
-    ENV ${extra_test_env}
+    INCLUDE_DIRS ${osrf_testing_tools_cpp_INCLUDE_DIRS}
+    ENV ${rmw_implementation_env_var}
     APPEND_LIBRARY_DIRS ${extra_lib_dirs}
-    LIBRARIES ${PROJECT_NAME} ${extra_test_libraries}
+    LIBRARIES ${PROJECT_NAME}
     AMENT_DEPENDENCIES ${rmw_implementation}
   )
 
   rcl_add_custom_gtest(test_namespace${target_suffix}
     SRCS test_namespace.cpp
-    ENV ${extra_test_env}
+    INCLUDE_DIRS ${osrf_testing_tools_cpp_INCLUDE_DIRS}
+    ENV ${rmw_implementation_env_var}
     APPEND_LIBRARY_DIRS ${extra_lib_dirs}
-    LIBRARIES ${PROJECT_NAME} ${extra_test_libraries}
+    LIBRARIES ${PROJECT_NAME}
     AMENT_DEPENDENCIES ${rmw_implementation} "example_interfaces"
   )
 
   # Launch tests
 
   rcl_add_custom_executable(service_fixture${target_suffix}
     SRCS rcl/service_fixture.cpp
-    LIBRARIES ${PROJECT_NAME} ${extra_test_libraries}
+    INCLUDE_DIRS ${osrf_testing_tools_cpp_INCLUDE_DIRS}
+    LIBRARIES ${PROJECT_NAME}
     AMENT_DEPENDENCIES ${rmw_implementation} "example_interfaces"
   )
 
   rcl_add_custom_executable(client_fixture${target_suffix}
     SRCS rcl/client_fixture.cpp
-    LIBRARIES ${PROJECT_NAME} ${extra_test_libraries}
+    INCLUDE_DIRS ${osrf_testing_tools_cpp_INCLUDE_DIRS}
+    LIBRARIES ${PROJECT_NAME}
     AMENT_DEPENDENCIES ${rmw_implementation} "example_interfaces"
   )
 
   rcl_add_custom_launch_test(test_services
     service_fixture
     client_fixture
-    ENV ${extra_test_env}
+    ENV ${rmw_implementation_env_var}
     APPEND_LIBRARY_DIRS ${extra_lib_dirs}
     TIMEOUT 15
   )
@@ -249,21 +263,19 @@ call_for_each_rmw_implementation(test_target)
 
 rcl_add_custom_gtest(test_validate_topic_name
   SRCS rcl/test_validate_topic_name.cpp
-  ENV ${extra_test_env}
   APPEND_LIBRARY_DIRS ${extra_lib_dirs}
-  LIBRARIES ${PROJECT_NAME} ${extra_test_libraries}
+  LIBRARIES ${PROJECT_NAME}
 )
 
 rcl_add_custom_gtest(test_expand_topic_name
   SRCS rcl/test_expand_topic_name.cpp
-  ENV ${extra_test_env}
   APPEND_LIBRARY_DIRS ${extra_lib_dirs}
-  LIBRARIES ${PROJECT_NAME} ${extra_test_libraries}
+  LIBRARIES ${PROJECT_NAME}
 )
 
 rcl_add_custom_gtest(test_timer${target_suffix}
   SRCS rcl/test_timer.cpp
-  ENV ${extra_test_env}
+  INCLUDE_DIRS ${osrf_testing_tools_cpp_INCLUDE_DIRS}
   APPEND_LIBRARY_DIRS ${extra_lib_dirs}
-  LIBRARIES ${PROJECT_NAME} ${extra_test_libraries}
+  LIBRARIES ${PROJECT_NAME}
 )
diff --git a/rcl/test/memory_tools/CMakeLists.txt b/rcl/test/memory_tools/CMakeLists.txt