refactoring

gtest as test suite

CI to auto detect all tests + use ninja

.github/workflows/runTests.yml

@@ -1,4 +1,3 @@
-
 name: Unit Tests
 
 on:
@@ -17,38 +16,41 @@ jobs:
         include:
             - name: ubuntu-gcc
               os: ubuntu-latest
-              compiler_opt: "-DCMAKE_C_COMPILER=gcc -DCMAKE_CXX_COMPILER=g++ -G \"Unix Makefiles\""
+              compiler_opt: "-DCMAKE_C_COMPILER=gcc -DCMAKE_CXX_COMPILER=g++"
+              build_system: '-G Ninja'
             - name: ubuntu-clang
               os: ubuntu-latest
-              compiler_opt: "-DCMAKE_C_COMPILER=clang -DCMAKE_CXX_COMPILER=clang++ -G \"Unix Makefiles\""
+              compiler_opt: "-DCMAKE_C_COMPILER=clang -DCMAKE_CXX_COMPILER=clang++"
+              build_system: '-G Ninja'
             - name: windows-VS
               os: windows-latest
               compiler_opt: ""
+              build_system: ""
 
     runs-on: ${{ matrix.os }}
     steps:
     - name: Checkout
       uses: actions/[email protected]
     - name: Checkout submodules
       run:  git submodule update --init --recursive
+    - name: show HEAD
+      run: git rev-parse HEAD
+    - name: Install openMp
+      if: matrix.name == 'ubuntu-clang'
+      run: sudo apt-get update; sudo apt-get install -y libomp5 libomp-dev
+    - name: Install Ninja
+      if: matrix.build_system == '-G Ninja'
+      uses: seanmiddleditch/gha-setup-ninja@master
     - name: CMake configure
-      run:  cmake -B./build -DCMAKE_INSTALL_PREFIX:STRING=./artifacts/ -DBUILD_MT_RRT_SAMPLES=ON -DBUILD_MT_RRT_TESTS=ON -DENABLE_MT_RRT_TESTS_LOGGING=ON -DCMAKE_CONFIGURATION_TYPES="Release" -DCMAKE_BUILD_TYPE:STRING=Release ${{ matrix.compiler_opt }}     
+      run:  cmake -B./build -DCMAKE_INSTALL_PREFIX:STRING=./artifacts/ -D	BUILD_MT_RRT_SAMPLES=ON -DBUILD_MT_RRT_TESTS=ON -DCMAKE_CONFIGURATION_TYPES="Release" -DCMAKE_BUILD_TYPE:STRING=Release ${{ matrix.build_system }} ${{ matrix.compiler_opt }}
     - name: Build
       run:  cmake --build ./build --config Release
     - name: Install
       run:  cmake --install ./build --config Release
-    - name: carpet tests
-      run: ./artifacts/bin/MT-RRT-carpet-tests
-    - name: trivial problem tests
-      run: ./artifacts/bin/MT-RRT-sample-TrivialProblem-lib-tests
-    - name: core tests
-      run: ./artifacts/bin/MT-RRT-core-tests
-    - name: multi threaded planners tests
-      run: ./artifacts/bin/MT-RRT-multi-threaded-tests
-    - name: planar robots problem tests
-      run: ./artifacts/bin/MT-RRT-sample-PlanarRobotsProblem-lib-tests
-    - name: navigation problem tests
-      run: ./artifacts/bin/MT-RRT-sample-NavigationProblem-lib-tests
+    - name: Tests-show
+      run: python script/RunTests.py --folder ./artifacts/bin --list
+    - name: Tests
+      run: python script/RunTests.py --folder ./artifacts/bin
     - uses: actions/upload-artifact@v2
       with:
         path: artifacts

.gitignore

@@ -2,3 +2,6 @@ build
 .vscode
 log-*
 .vs
+TODO
+__pycache__
+*.pyc

CMakeLists.txt

@@ -4,29 +4,30 @@ set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_CXX_EXTENSIONS OFF)
 
-include(${CMAKE_CURRENT_SOURCE_DIR}/cmake/MakeTest.cmake)
-include(${CMAKE_CURRENT_SOURCE_DIR}/cmake/MakeLibrary.cmake)
-include(${CMAKE_CURRENT_SOURCE_DIR}/cmake/FetchJSONlib.cmake)
-
 project(MT-RRT)
 
-option(LIB_OPT "Compile shared libraries (ON) or static (OFF)" OFF)
+set(MT_RRT_SCRIPTS ${CMAKE_CURRENT_SOURCE_DIR}/script)
 
-option(BUILD_MT_RRT_TESTS "Build MT-RRT tests" OFF)
-if(BUILD_MT_RRT_TESTS)
-    message("fetching catch2") 
-    include(FetchContent)
-    FetchContent_Declare(
-        catch2
-        GIT_REPOSITORY https://github.com/catchorg/Catch2.git
-        GIT_TAG        4ff8b27bb6bed4b8b309e56cd269b4f1fbc24e89
-    )
-    FetchContent_MakeAvailable(catch2)
-
-    option(ENABLE_MT_RRT_TESTS_LOGGING "Enable log generations when running tests" ON)
+include(${MT_RRT_SCRIPTS}/Fetch.cmake)
+include(${MT_RRT_SCRIPTS}/Terraform.cmake)
+
+if(DEFINED PYTHON_EXECUTABLE)
+    # indeed, this env var is defined by the setup.py script
+    # if here the package is being built in order to generate a wheel
+    set(PYTHON_CMD ${PYTHON_EXECUTABLE})
+else()
+    find_package(Python3 REQUIRED COMPONENTS Interpreter Development)
+    find_package(PythonLibs 3 REQUIRED)
+    set(PYTHON_CMD "${Python3_EXECUTABLE}")
 endif()
+set(COMMON_KIT_PATH ${CMAKE_SOURCE_DIR}/script)
 
+option(LIB_OPT "Compile shared libraries (ON) or static (OFF)" OFF)
+
+option(BUILD_MT_RRT_TESTS "Build MT-RRT tests" OFF)
 option(BUILD_MT_RRT_SAMPLES "Build MT-RRT samples" ON)
 
-add_subdirectory(src)
-add_subdirectory(samples)
+add_subdirectory(extern)
+
+Terraform(src)
+Terraform(problems)

extern/CMakeLists.txt

@@ -0,0 +1,17 @@
+include(FetchContent)
+
+if(BUILD_MT_RRT_TESTS)
+	FetchContent_Declare(
+	  googletest
+	  URL https://github.com/google/googletest/archive/03597a01ee50ed33e9dfd640b249b4be3799d395.zip
+	)
+	if (WIN32)
+		# For Windows: Prevent overriding the parent project's compiler/linker settings
+		set(gtest_force_shared_crt ON CACHE BOOL "" FORCE)
+	endif (WIN32)
+	FetchContent_MakeAvailable(googletest)
+endif()
+
+if(BUILD_MT_RRT_TESTS OR BUILD_MT_RRT_SAMPLES)
+    Fetch(https://github.com/nlohmann/json.git v3.10.5 json_lib)
+endif()

problems/.gitignore

@@ -0,0 +1 @@
+CMakeLists.txt

problems/misc/header/Geometry.h

@@ -0,0 +1,76 @@
+/**
+ * Author:    Andrea Casalino
+ * Created:   16.02.2021
+ *
+ * report any bug to [email protected].
+ **/
+
+#pragma once
+
+#include <MT-RRT/Limited.h>
+#include <MT-RRT/View.h>
+
+#ifdef _WIN32
+#include <corecrt_math_defines.h>
+#endif
+#include <math.h>
+
+#include <array>
+#include <optional>
+#include <variant>
+
+namespace mt_rrt::geom {
+static constexpr float PI = static_cast<float>(M_PI);
+static constexpr float PI_HALF = static_cast<float>(M_PI_2);
+
+float to_rad(float angle);
+
+float to_grad(float angle);
+
+// important!!! b is assumed to have the same size of a,
+// but no check is done inside this function
+float distance(const View &a, const View &b);
+
+// important!!! b is assumed to have the same size of a,
+// but no check is done inside this function
+float dot(const View &a, const View &b);
+
+struct Point {
+  Point() : Point{0, 0} {}
+  Point(float x, float y);
+  Point(const View &v);
+
+  Point(const Point &o) : Point{o.data_[0], o.data_[1]} {}
+  Point &operator=(const Point &o);
+
+  Point(Point &&o);
+  Point &operator=(Point &&o);
+
+  const float *data() const { return data_; }
+
+  View asView() const { return View{data_, 2}; }
+
+  std::vector<float> asVec() const {
+    return std::vector<float>{data_[0], data_[1]};
+  }
+
+private:
+  std::optional<std::array<float, 2>> container_;
+  const float *data_;
+};
+
+float distance(const Point &a, const Point &b);
+
+float dot(const Point &a, const Point &b);
+
+Point sum(const Point &subject, const Point &to_add,
+          const std::optional<float> &to_add_scale = std::nullopt);
+
+Point diff(const Point &subject, const Point &to_remove,
+           const std::optional<float> &to_remove_scale = std::nullopt);
+
+float curve_length(const std::vector<std::vector<float>> &sequence);
+
+float curve_similarity(const std::vector<std::vector<float>> &a,
+                       const std::vector<std::vector<float>> &b);
+} // namespace mt_rrt::geom

problems/misc/header/LogResult.h

@@ -0,0 +1,66 @@
+/**
+ * Author:    Andrea Casalino
+ * Created:   16.02.2021
+ *
+ * report any bug to [email protected].
+ **/
+
+#pragma once
+
+#include <MT-RRT/Extender.h>
+#include <MT-RRT/Node.h>
+#include <MT-RRT/Planner.h>
+
+#include <Logger.h>
+#include <MiscConversions.h>
+
+namespace mt_rrt {
+template <typename ObstacleT> struct ObstacleTrait {};
+
+template <> struct ObstacleTrait<geom::Box> {
+  static std::string typeStr() { return "Box"; }
+};
+
+template <> struct ObstacleTrait<geom::Segment> {
+  static std::string typeStr() { return "Segment"; }
+};
+
+template <> struct ObstacleTrait<geom::Sphere> {
+  static std::string typeStr() { return "Sphere"; }
+};
+
+class LogResult {
+public:
+  LogResult();
+
+  const auto &get() const { return content; }
+
+  nlohmann::json &addToScene(const std::string &key) { return scene[key]; }
+
+  template <typename ObstacleT> void addObstacle(const ObstacleT &subject) {
+    auto &added = obstacles.emplace_back();
+    to_json(added, subject);
+    added["type"] = ObstacleTrait<ObstacleT>::typeStr();
+  }
+
+  void addTree(const TreeHandler &tree);
+
+  void addSolution(const std::vector<std::vector<float>> &sequence);
+  void addSolution(const Solution &solution);
+
+  void addPlannerSolution(const PlannerSolution &sol) {
+    for (const auto &tree : sol.trees) {
+      addTree(*tree);
+    }
+    auto &added = solutions.emplace_back();
+    added["sequence"] = sol.solution;
+  }
+
+private:
+  nlohmann::json content;
+  nlohmann::json &scene = content["scene"];
+  nlohmann::json &obstacles = scene["obstacles"];
+  nlohmann::json &trees = content["trees"];
+  nlohmann::json &solutions = content["solutions"];
+};
+} // namespace mt_rrt

problems/misc/header/Logger.h

@@ -0,0 +1,35 @@
+/**
+ * Author:    Andrea Casalino
+ * Created:   16.02.2021
+ *
+ * report any bug to [email protected].
+ **/
+
+#pragma once
+
+#include <nlohmann/json.hpp>
+
+#include <filesystem>
+#include <unordered_map>
+#include <unordered_set>
+
+namespace mt_rrt {
+class Logger {
+public:
+  static Logger &get();
+
+  void add(const std::string &tag, const std::string &title,
+           const nlohmann::json &content);
+
+  static const auto &logRoot() { return LOG_FOLDER; }
+
+private:
+  // clean up the log folder when building a new singleton
+  Logger();
+
+  static inline const std::filesystem::path LOG_FOLDER =
+      std::filesystem::path{MT_RRT_LOG_FOLDER};
+
+  std::unordered_map<std::string, std::unordered_set<std::string>> results;
+};
+} // namespace mt_rrt