Minor updates

Signed-off-by: Alberto Tudela <[email protected]>
grupo-avispa · Apr 18, 2024 · 1710b01 · 1710b01
1 parent b4d74bf
commit 1710b01
Show file tree

Hide file tree

Showing 6 changed files with 91 additions and 77 deletions.
diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
@@ -62,13 +62,4 @@ jobs:
           files: ros_ws/lcov/total_coverage.info,ros_ws/coveragepy/.coverage
           flags: unittests
           name: codecov-umbrella
-          slug: grupo-avispa/scitos2
-      - name: Upload cpp coverage to Coveralls
-        uses: coverallsapp/github-action@v2
-        with:
-          github-token: ${{ secrets.COVERALLS_REPO_TOKEN }}
-          fail-on-error: true
-          flag-name: unittests
-          debug: true
-          files: ros_ws/lcov/total_coverage.info,ros_ws/coveragepy/.coverage
-          format: lcov
+          slug: grupo-avispa/scitos2
diff --git a/scitos2_common/cmake/mira_package.cmake b/scitos2_common/cmake/mira_package.cmake
@@ -4,73 +4,97 @@
 # @public
 #
 macro(find_mira_path)
-message(STATUS "Detecting MIRA root directory")
-
-# Examines each path in MIRA_PATH in order to find the MIRA root directory, which
-# is identified by the file "make/Insource.make"
-SET(ENV{MIRA_PATH} "$ENV{MIRA_PATH}:/opt/mira:${CMAKE_SOURCE_DIR}")
-SET(FORCE_USE_QT5 1)
-
-set(FindMIRARoot_MIRA_PATH "$ENV{MIRA_PATH}")
-if(UNIX)
-	# note: the "" around "${MIRA_PATH}" are very important !
-	string(REPLACE ":" ";" FindMIRARoot_MIRA_PATH "${FindMIRARoot_MIRA_PATH}")
-endif()
-
-set(FOUND_MIRA_ROOT_DIR 0)
-set(MIRA_ROOT_DIR "")
-FOREACH(path ${FindMIRARoot_MIRA_PATH})
-	GET_FILENAME_COMPONENT(pathComponent ${path} ABSOLUTE)
-	# strip any trailing slashes from every path in MIRA_PATH env
-	MESSAGE(STATUS "Examining ${pathComponent}")
-
-	if(EXISTS "${pathComponent}/mira.root")
-		MESSAGE(STATUS "found valid ${pathComponent}")
-		set(FOUND_MIRA_ROOT_DIR 1)
-		set(MIRA_ROOT_DIR ${pathComponent})
-	endif()
-ENDFOREACH(path)
-MESSAGE(STATUS "MIRA_ROOT_DIR=${MIRA_ROOT_DIR}")
-MESSAGE(STATUS "FOUND_MIRA_ROOT_DIR=${FOUND_MIRA_ROOT_DIR}")
-
-IF(FOUND_MIRA_ROOT_DIR)
-	# return the final relative path; must use echo, as cmake does not provide 
-	# mechanism to output to stdout :( 
-	execute_process(COMMAND ${CMAKE_COMMAND} -E echo ${MIRA_ROOT_DIR})
-ELSE()
-	message("!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!")
-	message("Your MIRA_PATH environment variable is not set properly.\nPlease add the proper path to your MIRA directory.")
-	message("!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!") 
-	message(FATAL_ERROR)
-ENDIF()
+  message(STATUS "Detecting MIRA root directory")
+
+  # Examines each path in MIRA_PATH in order to find the MIRA root directory, which
+  # is identified by the file "make/Insource.make"
+  SET(ENV{MIRA_PATH} "$ENV{MIRA_PATH}:/opt/mira:${CMAKE_SOURCE_DIR}")
+  SET(FORCE_USE_QT5 1)
+
+  set(FindMIRARoot_MIRA_PATH "$ENV{MIRA_PATH}")
+
+  if(UNIX)
+    # note: the "" around "${MIRA_PATH}" are very important !
+    string(REPLACE ":" ";" FindMIRARoot_MIRA_PATH "${FindMIRARoot_MIRA_PATH}")
+  endif()
+
+  set(FOUND_MIRA_ROOT_DIR 0)
+  set(MIRA_ROOT_DIR "")
+
+  FOREACH(path ${FindMIRARoot_MIRA_PATH})
+    GET_FILENAME_COMPONENT(pathComponent ${path} ABSOLUTE)
+
+    # strip any trailing slashes from every path in MIRA_PATH env
+    MESSAGE(STATUS "Examining ${pathComponent}")
+
+    if(EXISTS "${pathComponent}/mira.root")
+      MESSAGE(STATUS "found valid ${pathComponent}")
+      set(FOUND_MIRA_ROOT_DIR 1)
+      set(MIRA_ROOT_DIR ${pathComponent})
+    endif()
+  ENDFOREACH(path)
+
+  MESSAGE(STATUS "MIRA_ROOT_DIR=${MIRA_ROOT_DIR}")
+  MESSAGE(STATUS "FOUND_MIRA_ROOT_DIR=${FOUND_MIRA_ROOT_DIR}")
+
+  IF(FOUND_MIRA_ROOT_DIR)
+    # return the final relative path; must use echo, as cmake does not provide
+    # mechanism to output to stdout :(
+    execute_process(COMMAND ${CMAKE_COMMAND} -E echo ${MIRA_ROOT_DIR})
+  ELSE()
+    message("!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!")
+    message("Your MIRA_PATH environment variable is not set properly.\nPlease add the proper path to your MIRA directory.")
+    message("!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!")
+    message(FATAL_ERROR)
+  ENDIF()
 endmacro()
 
-##############################################################################
+# #############################################################################
 
 #
 # Include MIRA packages
 #
 # @public
 #
 macro(include_mira_packages)
-set(CMAKE_MODULE_PATH ${MIRA_ROOT_DIR}/make)
+  set(CMAKE_MODULE_PATH ${MIRA_ROOT_DIR}/make)
 
-include(Prerequisites)
-include(Dependencies)
+  include(Prerequisites)
+  include(Dependencies)
 
-# Require MIRAFramework package
-mira_require_package(MIRAFramework)
-mira_require_package(RobotDataTypes)
+  # Require MIRAFramework package
+  mira_require_package(MIRAFramework)
+  mira_require_package(RobotDataTypes)
 endmacro()
 
-##############################################################################
+# #############################################################################
 
 #
 # Target link for MIRA libraries
 #
 # @public
 #
 macro(target_link_mira_libraries target)
-# For transitive linking link against all auto liked libraries
-target_link_libraries(${target} ${MIRAAutoLinkLibraries} MIRAFramework)
+  # For transitive linking link against all auto liked libraries
+  target_link_libraries(${target} ${MIRAAutoLinkLibraries} MIRAFramework)
+
+  # use, i.e. don't skip the full RPATH for the build tree
+  SET(CMAKE_SKIP_BUILD_RPATH FALSE)
+
+  # when building, don't use the install RPATH already
+  # (but later on when installing)
+  SET(CMAKE_BUILD_WITH_INSTALL_RPATH FALSE)
+
+  SET(CMAKE_INSTALL_RPATH "${MIRA_ROOT_DIR}/lib")
+
+  # add the automatically determined parts of the RPATH
+  # which point to directories outside the build tree to the install RPATH
+  SET(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
+
+  # the RPATH to be used when installing, but only if it's not a system directory
+  LIST(FIND CMAKE_PLATFORM_IMPLICIT_LINK_DIRECTORIES "${CMAKE_INSTALL_PREFIX}/lib" isSystemDir)
+
+  IF("${isSystemDir}" STREQUAL "-1")
+    SET(CMAKE_INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib")
+  ENDIF("${isSystemDir}" STREQUAL "-1")
 endmacro()
diff --git a/scitos2_core/CMakeLists.txt b/scitos2_core/CMakeLists.txt
@@ -21,7 +21,8 @@ if(NOT CMAKE_CXX_STANDARD)
 endif()
 
 if(CMAKE_CXX_COMPILER_ID MATCHES "GNU" OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-Wall -Wextra -Wpedantic -Werror -Wdeprecated -fPIC -Wshadow -Wnull-dereference)
+  # add_compile_options(-Wall -Wextra -Wpedantic -Werror -Wdeprecated -fPIC -Wshadow -Wnull-dereference)
+  add_compile_options(-Wall -Wextra -Wpedantic -Wdeprecated -fPIC -Wshadow -Wnull-dereference)
   add_compile_options("$<$<COMPILE_LANGUAGE:CXX>:-Wnon-virtual-dtor>")
 endif()
 
@@ -65,6 +66,8 @@ include_directories(
   include
 )
 
+include_mira_packages()
+
 set(dependencies
   rclcpp
   rclcpp_components

diff --git a/scitos2_core/include/scitos2_core/module.hpp b/scitos2_core/include/scitos2_core/module.hpp
@@ -67,6 +67,8 @@ class Module
   virtual void deactivate() = 0;
 
 protected:
+  // Skip this method from coverage report because it only calls MIRA services
+  // LCOV_EXCL_START
   /**
    * @brief Call a MIRA service with a timeout of 1 second.
    *
@@ -85,8 +87,7 @@ class Module
     // Check if the authority is valid or if the service exists
     if (!sharedAuthority->isValid() || !sharedAuthority->existsService("/robot/Robot")) {
       RCLCPP_ERROR_ONCE(
-        rclcpp::get_logger("MIRA"),
-        "MIRA authority is not valid or service does not exist");
+        rclcpp::get_logger("MIRA"), "MIRA authority is not valid or service does not exist");
       return false;
     }
 
@@ -97,8 +98,7 @@ class Module
       RCLCPP_DEBUG(rclcpp::get_logger("MIRA"), "service_name: %i", true);
     } catch (mira::XRPC & e) {
       RCLCPP_WARN(
-        rclcpp::get_logger("MIRA"),
-        "MIRA RPC error caught when calling the service: %s", e.what() );
+        rclcpp::get_logger("MIRA"), "MIRA RPC error caught when calling the service: %s", e.what());
       return false;
     }
     return true;
@@ -126,8 +126,7 @@ class Module
     // Check if the authority is valid or if the service exists
     if (!sharedAuthority->isValid() || !sharedAuthority->existsService("/robot/Robot")) {
       RCLCPP_ERROR_ONCE(
-        rclcpp::get_logger("MIRA"),
-        "MIRA authority is not valid or service does not exist");
+        rclcpp::get_logger("MIRA"), "MIRA authority is not valid or service does not exist");
       return false;
     }
 
@@ -143,8 +142,7 @@ class Module
       RCLCPP_DEBUG(rclcpp::get_logger("MIRA"), "service_name: %i", true);
     } catch (mira::XRPC & e) {
       RCLCPP_WARN(
-        rclcpp::get_logger("MIRA"),
-        "MIRA RPC error caught when calling the service: %s", e.what() );
+        rclcpp::get_logger("MIRA"), "MIRA RPC error caught when calling the service: %s", e.what());
       return false;
     }
     return true;
@@ -171,8 +169,7 @@ class Module
     // Check if the authority is valid or if the service exists
     if (!sharedAuthority->isValid() || !sharedAuthority->existsService("/robot/Robot")) {
       RCLCPP_ERROR_ONCE(
-        rclcpp::get_logger("MIRA"),
-        "MIRA authority is not valid or service does not exist");
+        rclcpp::get_logger("MIRA"), "MIRA authority is not valid or service does not exist");
       return false;
     }
 
@@ -183,8 +180,7 @@ class Module
       rpc.get();
     } catch (mira::XRPC & e) {
       RCLCPP_WARN(
-        rclcpp::get_logger("MIRA"),
-        "MIRA RPC error caught when setting parameter: %s", e.what() );
+        rclcpp::get_logger("MIRA"), "MIRA RPC error caught when setting parameter: %s", e.what());
       return false;
     }
     return true;
@@ -210,8 +206,7 @@ class Module
     // Check if the authority is valid or if the service exists
     if (!sharedAuthority->isValid() || !sharedAuthority->existsService("/robot/Robot")) {
       RCLCPP_ERROR_ONCE(
-        rclcpp::get_logger("MIRA"),
-        "MIRA authority is not valid or service does not exist");
+        rclcpp::get_logger("MIRA"), "MIRA authority is not valid or service does not exist");
       return "";
     }
 
@@ -222,11 +217,11 @@ class Module
       return rpc.get();
     } catch (mira::XRPC & e) {
       RCLCPP_WARN(
-        rclcpp::get_logger("MIRA"),
-        "MIRA RPC error caught when getting parameter: %s", e.what() );
+        rclcpp::get_logger("MIRA"), "MIRA RPC error caught when getting parameter: %s", e.what());
       return "";
     }
   }
+  // LCOV_EXCL_STOP
 };
 
 }  // namespace scitos2_core

diff --git a/scitos2_core/include/scitos2_core/sink_logger.hpp b/scitos2_core/include/scitos2_core/sink_logger.hpp
@@ -20,6 +20,7 @@
 
 #include "rclcpp/rclcpp.hpp"
 
+// LCOV_EXCL_START
 namespace scitos2_core
 {
 
@@ -70,5 +71,6 @@ class SinkLogger : public mira::LogSink
 };
 
 }  // namespace scitos2_core
+// LCOV_EXCL_STOP
 
 #endif  // SCITOS2_CORE__SINK_LOGGER_HPP_
diff --git a/scitos2_core/package.xml b/scitos2_core/package.xml
@@ -15,7 +15,6 @@
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
-  <test_depend>ament_cmake_gtest</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>