Update GoogleTest to latest version (#369)

* Remove old gtest version
* Add new vendored Googletest version
* CMake updates for new googletest version
* Test updates for new googletest version
* Remove unnecessary gtest_main functions
* Update test/CMakeLists.txt

Signed-off-by: Michael Carroll <michael@openrobotics.org>
Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com>

CMakeLists.txt

@@ -13,6 +13,9 @@ find_package(gz-cmake3 REQUIRED)
 #============================================================================
 # Configure the project
 #============================================================================
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+
 gz_configure_project(
   REPLACE_IGNITION_INCLUDE_PATH gz/physics
   VERSION_SUFFIX pre1)

bullet/src/EntityManagement_TEST.cc

@@ -49,9 +49,3 @@ TEST(EntityManagement_TEST, ConstructEmptyWorld)
   auto world = engine->ConstructEmptyWorld("empty world");
   ASSERT_NE(nullptr, world);
 }
-
-int main(int argc, char *argv[])
-{
-  ::testing::InitGoogleTest(&argc, argv);
-  return RUN_ALL_TESTS();
-}

bullet/src/SDFFeatures_TEST.cc

@@ -126,9 +126,3 @@ TEST(SDFFeatures_TEST, WorldIsParentOrChild)
     EXPECT_NE(nullptr, joint);
   }
 }
-
-int main(int argc, char *argv[])
-{
-  ::testing::InitGoogleTest(&argc, argv);
-  return RUN_ALL_TESTS();
-}

dartsim/src/Base_TEST.cc

@@ -184,9 +184,3 @@ TEST(BaseClass, AddNestedModel)
   ASSERT_EQ(2u, parentModelInfo.nestedModels.size());
   EXPECT_EQ(nestedModel2ID, parentModelInfo.nestedModels[1]);
 }
-
-int main(int argc, char *argv[])
-{
-  ::testing::InitGoogleTest(&argc, argv);
-  return RUN_ALL_TESTS();
-}

dartsim/src/Collisions_TEST.cc

@@ -85,8 +85,8 @@ class Collisions_TEST
       public ::testing::WithParamInterface<std::string>
 {};
 
-INSTANTIATE_TEST_CASE_P(PhysicsPlugins, Collisions_TEST,
-    ::testing::ValuesIn(gz::physics::test::g_PhysicsPluginLibraries),); // NOLINT
+INSTANTIATE_TEST_SUITE_P(PhysicsPlugins, Collisions_TEST,
+    ::testing::ValuesIn(gz::physics::test::g_PhysicsPluginLibraries));
 
 TestWorldPtr ConstructMeshPlaneWorld(
     const gz::physics::Engine3dPtr<TestFeatureList> &_engine,
@@ -155,9 +155,3 @@ TEST_P(Collisions_TEST, MeshAndPlane)
           -1.91, link->FrameDataRelativeToWorld().pose.translation()[2], 0.05);
   }
 }
-
-int main(int argc, char *argv[])
-{
-  ::testing::InitGoogleTest(&argc, argv);
-  return RUN_ALL_TESTS();
-}

dartsim/src/EntityManagement_TEST.cc

@@ -374,10 +374,3 @@ TEST(EntityManagement_TEST, ModelByIndexWithNestedModels)
   ASSERT_NE(nullptr, model2Again);
   EXPECT_EQ(2ul, model2Again->GetIndex());
 }
-
-
-int main(int argc, char *argv[])
-{
-  ::testing::InitGoogleTest(&argc, argv);
-  return RUN_ALL_TESTS();
-}

dartsim/src/JointFeatures_TEST.cc

@@ -1392,10 +1392,3 @@ TEST_F(JointTransmittedWrenchFixture, ContactForces)
   EXPECT_TRUE(physics::test::Equal(expectedWrenchAtMotorJointInJoint,
                                    wrenchAtMotorJointInJoint, 1e-4));
 }
-
-/////////////////////////////////////////////////
-int main(int argc, char *argv[])
-{
-  ::testing::InitGoogleTest(&argc, argv);
-  return RUN_ALL_TESTS();
-}

dartsim/src/KinematicsFeatures_TEST.cc

@@ -124,11 +124,3 @@ TEST_F(KinematicsFeaturesFixture, JointFrameSemantics)
   EXPECT_TRUE(
       physics::test::Equal(F_WCexpected, childLinkFrameData, 1e-6));
 }
-
-/////////////////////////////////////////////////
-int main(int argc, char *argv[])
-{
-  ::testing::InitGoogleTest(&argc, argv);
-  return RUN_ALL_TESTS();
-}
-

dartsim/src/LinkFeatures_TEST.cc

@@ -353,10 +353,3 @@ TEST_F(LinkFeaturesFixture, ModelAxisAlignedBoundingBox)
   EXPECT_PRED_FORMAT2(
       vectorPredicate, physics::Vector3d(2, 2, 1.0), bboxLinkFrame.max());
 }
-
-/////////////////////////////////////////////////
-int main(int argc, char *argv[])
-{
-  ::testing::InitGoogleTest(&argc, argv);
-  return RUN_ALL_TESTS();
-}

dartsim/src/SDFFeatures_TEST.cc

@@ -303,9 +303,9 @@ class SDFFeatures_TEST : public ::testing::TestWithParam<LoaderType>
 };
 
 // Run with different load world functions
-INSTANTIATE_TEST_CASE_P(LoadWorld, SDFFeatures_TEST,
+INSTANTIATE_TEST_SUITE_P(LoadWorld, SDFFeatures_TEST,
                         ::testing::Values(LoaderType::Whole,
-                                          LoaderType::Piecemeal), );
+                                          LoaderType::Piecemeal));
 
 /////////////////////////////////////////////////
 // Test that the dartsim plugin loaded all the relevant information correctly.
@@ -717,9 +717,9 @@ class SDFFeatures_FrameSemantics: public SDFFeatures_TEST
 };
 
 // Run with different load world functions
-INSTANTIATE_TEST_CASE_P(LoadWorld, SDFFeatures_FrameSemantics,
+INSTANTIATE_TEST_SUITE_P(LoadWorld, SDFFeatures_FrameSemantics,
                         ::testing::Values(LoaderType::Whole,
-                                          LoaderType::Piecemeal), );
+                                          LoaderType::Piecemeal));
 
 /////////////////////////////////////////////////
 TEST_P(SDFFeatures_FrameSemantics, LinkRelativeTo)
@@ -931,9 +931,3 @@ TEST_P(SDFFeatures_TEST, Shapes)
     ASSERT_EQ(1u, skeleton->getNumBodyNodes());
   }
 }
-
-int main(int argc, char *argv[])
-{
-  ::testing::InitGoogleTest(&argc, argv);
-  return RUN_ALL_TESTS();
-}

dartsim/src/ShapeFeatures_TEST.cc

@@ -248,10 +248,3 @@ TEST_F(ShapeFeaturesFixture, SecondarySlipCompliance)
   }
 }
 #endif
-
-/////////////////////////////////////////////////
-int main(int argc, char *argv[])
-{
-  ::testing::InitGoogleTest(&argc, argv);
-  return RUN_ALL_TESTS();
-}

dartsim/src/SimulationFeatures_TEST.cc

@@ -480,11 +480,5 @@ TEST_P(SimulationFeatures_TEST, RetrieveContacts)
   }
 }
 
-INSTANTIATE_TEST_CASE_P(PhysicsPlugins, SimulationFeatures_TEST,
-    ::testing::ValuesIn(gz::physics::test::g_PhysicsPluginLibraries),); // NOLINT
-
-int main(int argc, char *argv[])
-{
-  ::testing::InitGoogleTest(&argc, argv);
-  return RUN_ALL_TESTS();
-}
+INSTANTIATE_TEST_SUITE_P(PhysicsPlugins, SimulationFeatures_TEST,
+    ::testing::ValuesIn(gz::physics::test::g_PhysicsPluginLibraries));

dartsim/src/WorldFeatures_TEST.cc

@@ -208,10 +208,3 @@ TEST_F(WorldFeaturesFixture, Solver)
   world->SetSolver("pgs");
   EXPECT_EQ("PgsBoxedLcpSolver", world->GetSolver());
 }
-
-/////////////////////////////////////////////////
-int main(int argc, char *argv[])
-{
-  ::testing::InitGoogleTest(&argc, argv);
-  return RUN_ALL_TESTS();
-}

src/CMakeLists.txt

@@ -1,6 +1,6 @@
 gz_get_libsources_and_unittests(sources gtest_sources)
+gz_create_core_library(SOURCES ${sources}) 
 
-gz_create_core_library(SOURCES ${sources} CXX_STANDARD 17)
 
 target_link_libraries(${PROJECT_LIBRARY_TARGET_NAME}
   PUBLIC

src/Cloneable_TEST.cc

@@ -171,9 +171,3 @@ TEST(Cloneable_TEST, Copy)
   copyTo->Copy(std::move(*moveFrom));
   EXPECT_EQ("movingFrom", copyToCasted->myString);
 }
-
-int main(int argc, char **argv)
-{
-  ::testing::InitGoogleTest(&argc, argv);
-  return RUN_ALL_TESTS();
-}

src/CompositeData_TEST.cc

@@ -579,10 +579,3 @@ TEST(CompositeData_TEST, Queries)
   EXPECT_NE(0u, all.count(typeid(IntData).name()));
   EXPECT_NE(0u, all.count(typeid(BoolData).name()));
 }
-
-/////////////////////////////////////////////////
-int main(int argc, char **argv)
-{
-  ::testing::InitGoogleTest(&argc, argv);
-  return RUN_ALL_TESTS();
-}

src/FeatureList_TEST.cc

@@ -239,9 +239,3 @@ TEST(FeatureList_TEST, Hierarchy)
   EXPECT_TRUE((detail::TupleContainsBase<Conflict1, Level3Tuple>::value));
   EXPECT_TRUE((detail::TupleContainsBase<Conflict2, Level3Tuple>::value));
 }
-
-int main(int argc, char **argv)
-{
-  ::testing::InitGoogleTest(&argc, argv);
-  return RUN_ALL_TESTS();
-}

src/Feature_TEST.cc

@@ -114,9 +114,3 @@ TEST(Feature_TEST, SimpleMock)
 
   EXPECT_EQ(3u, missing.size());
 }
-
-int main(int argc, char *argv[])
-{
-  ::testing::InitGoogleTest(&argc, argv);
-  return RUN_ALL_TESTS();
-}

src/FilterTuple_TEST.cc

@@ -68,9 +68,3 @@ TEST(FilterTuple_TEST, CombineListsResult)
   EXPECT_EQ(1u, std::tuple_size<SingleCombineListsChildFilter>::value);
   EXPECT_EQ(1u, std::tuple_size<SingleCombineLists>::value);
 }
-
-int main(int argc, char **argv)
-{
-  ::testing::InitGoogleTest(&argc, argv);
-  return RUN_ALL_TESTS();
-}

src/FindFeatures_TEST.cc

@@ -68,9 +68,3 @@ TEST(FindFeatures_TEST, Unimplemented)
   // No plugins should ever have implemented this spoofed feature list
   EXPECT_EQ(0u, foundPlugins.size());
 }
-
-int main(int argc, char **argv)
-{
-  ::testing::InitGoogleTest(&argc, argv);
-  return RUN_ALL_TESTS();
-}

src/SpecifyData_TEST.cc

@@ -708,10 +708,3 @@ TEST(SpecifyData, Move)
     EXPECT_EQ("old_string", opEqData.Get<StringData>().myString);
   }
 }
-
-/////////////////////////////////////////////////
-int main(int argc, char **argv)
-{
-  ::testing::InitGoogleTest(&argc, argv);
-  return RUN_ALL_TESTS();
-}

test/CMakeLists.txt

@@ -1,28 +1,3 @@
-if (NOT BUILD_TESTING)
-  return()
-endif()
-
-include_directories (
-  ${PROJECT_SOURCE_DIR}/test/gtest/include
-  ${PROJECT_SOURCE_DIR}/test/gtest
-  ${PROJECT_SOURCE_DIR}/test
-  ${CMAKE_BINARY_DIR}/include
-)
-
-# Build gtest
-add_library(gtest STATIC gtest/src/gtest-all.cc)
-add_library(gtest_main STATIC gtest/src/gtest_main.cc)
-target_link_libraries(gtest_main gtest)
-set_property(TARGET gtest_main PROPERTY CXX_STANDARD ${c++standard})
-set_property(TARGET gtest PROPERTY CXX_STANDARD ${c++standard})
-set(GTEST_LIBRARY "${PROJECT_BINARY_DIR}/test/libgtest.a")
-set(GTEST_MAIN_LIBRARY "${PROJECT_BINARY_DIR}/test/libgtest_main.a")
-
-execute_process(COMMAND cmake -E remove_directory ${CMAKE_BINARY_DIR}/test_results)
-execute_process(COMMAND cmake -E make_directory ${CMAKE_BINARY_DIR}/test_results)
-# This gives us access to src/utils headers
-include_directories(${PROJECT_SOURCE_DIR}/src ${GTEST_INCLUDE_DIRS})
-
 #============================================================================
 # Do a fake install of ign-physics in order to test the examples.
 #============================================================================
@@ -44,6 +19,7 @@ ExternalProject_Add(
     "-DCMAKE_INSTALL_PREFIX=${FAKE_INSTALL_PREFIX}"
 )
 
+add_subdirectory(gtest_vendor)
 add_subdirectory(benchmark)
 add_subdirectory(common_test)
 add_subdirectory(plugins)

test/benchmark/CMakeLists.txt

@@ -4,4 +4,5 @@ set(tests
   ExpectData.cc
 )
 
-gz_add_benchmarks(SOURCES ${tests})
+gz_add_benchmarks(SOURCES ${tests}
+  INCLUDE_DIRS ${PROJECT_SOURCE_DIR}/src)