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| Original file line number | Diff line number | Diff line change |
|---|---|---|
|
|
@@ -23,6 +23,9 @@ class Config: | |
| VCPKG_EXEC = "vcpkg" | ||
| VCPKG_BOOTSTRAP = "bootstrap-vcpkg.sh" | ||
| VCPKG_TRIPLET = "x64-linux" | ||
| TAPED_TEST_DATA_DIR = os.path.join("external", "taped_test_data") | ||
| TAPED_TEST_DATA_REPO = "[email protected]:RobotecAI/RGL-blobs.git" | ||
| TAPED_TEST_DATA_BRANCH = "main" | ||
|
|
||
| def __init__(self): | ||
| # Platform-dependent configuration | ||
|
|
@@ -69,6 +72,10 @@ def main(): | |
| help="Pass arguments to make. Usage: --make=\"args...\". Defaults to \"-j <cpu count>\"") | ||
| parser.add_argument("--lib-rpath", type=str, nargs='*', | ||
| help="Add run-time search path(s) for RGL library. $ORIGIN (actual library path) is added by default.") | ||
| parser.add_argument("--install-taped-test-deps", action='store_true', | ||
| help="Install dependencies for taped test and exit (closed-source dependencies)") | ||
| parser.add_argument("--build-taped-test", action='store_true', | ||
| help="Build taped test") | ||
| if on_windows(): | ||
| parser.add_argument("--ninja", type=str, default=f"-j{os.cpu_count()}", dest="build_args", | ||
| help="Pass arguments to ninja. Usage: --ninja=\"args...\". Defaults to \"-j <cpu count>\"") | ||
|
|
@@ -100,6 +107,17 @@ def main(): | |
| print('Installed ROS2 deps, exiting...') | ||
| return 0 | ||
|
|
||
| # Install taped test dependencies | ||
| if args.install_taped_test_deps: | ||
| install_taped_test_deps(cfg) | ||
| print('Installed dependencies for taped test, exiting...') | ||
| return 0 | ||
|
|
||
| # Check taped test requirements | ||
| if args.build_taped_test and not args.with_pcl: | ||
| raise RuntimeError( | ||
| "Taped test requires PCL extension to be built: run this script with --with-pcl flag") | ||
|
|
||
| # Check CUDA | ||
| if not is_cuda_version_ok(cfg): | ||
| raise RuntimeError( | ||
|
|
@@ -137,6 +155,7 @@ def main(): | |
| f"-DRGL_BUILD_ROS2_EXTENSION={'ON' if args.with_ros2 else 'OFF'}", | ||
| f"-DRGL_BUILD_UDP_EXTENSION={'ON' if args.with_udp else 'OFF'}", | ||
| f"-DRGL_BUILD_SNOW_EXTENSION={'ON' if args.with_snow else 'OFF'}", | ||
| f"-DRGL_BUILD_TAPED_TESTS={'ON' if args.build_taped_test else 'OFF'}" | ||
| ] | ||
|
|
||
| if on_linux(): | ||
|
|
@@ -233,15 +252,15 @@ def install_pcl_deps(cfg): | |
| f"{os.path.join(cfg.VCPKG_DIR, cfg.VCPKG_EXEC)} install --clean-after-build pcl[core,visualization]:{cfg.VCPKG_TRIPLET}") | ||
|
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||
|
|
||
| def has_colcon(): | ||
| process = subprocess.Popen("colcon --help", shell=True, stderr=subprocess.DEVNULL, stdout=subprocess.DEVNULL) | ||
| def is_command_available(command): | ||
| process = subprocess.Popen(f"{command}", shell=True, stderr=subprocess.DEVNULL, stdout=subprocess.DEVNULL) | ||
| process.wait() | ||
| return process.returncode == 0 | ||
|
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||
|
|
||
| def install_ros2_deps(cfg): | ||
| # Install colcon if needed | ||
| if not has_colcon(): | ||
| if not is_command_available("colcon --help"): | ||
| if on_windows(): | ||
| run_system_command("pip install colcon-common-extensions") | ||
| elif not inside_docker(): # Linux; Inside docker already installed | ||
|
|
@@ -261,6 +280,47 @@ def install_ros2_deps(cfg): | |
| # TODO: cyclonedds rmw may be installed here (instead of manually in readme) | ||
|
|
||
|
|
||
| def ensure_git_lfs_installed(): | ||
| if not is_command_available("git-lfs --help"): | ||
| print("Installing git-lfs...") | ||
| run_subprocess_command( | ||
| "curl -s https://packagecloud.io/install/repositories/github/git-lfs/script.deb.sh | sudo bash") | ||
| run_subprocess_command("sudo apt install git-lfs") | ||
|
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||
|
|
||
| def clone_taped_test_data_repo(cfg): | ||
| run_subprocess_command( | ||
| f"git clone -b {cfg.TAPED_TEST_DATA_BRANCH} --single-branch --depth 1 {cfg.TAPED_TEST_DATA_REPO} {cfg.TAPED_TEST_DATA_DIR}") | ||
| os.chdir(cfg.TAPED_TEST_DATA_DIR) | ||
| # Set up git-lfs for this repository | ||
| run_subprocess_command("git-lfs install && git-lfs pull") | ||
|
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||
|
|
||
| def is_taped_data_up_to_date(cfg): | ||
| result = subprocess.Popen("git fetch --dry-run --verbose", shell=True, stdout=subprocess.PIPE, | ||
| stderr=subprocess.STDOUT) | ||
| stdout, _ = result.communicate() | ||
| return f"[up to date] {cfg.TAPED_TEST_DATA_BRANCH}" in stdout.decode() | ||
|
|
||
|
|
||
| def update_taped_test_data_repo(cfg): | ||
| if not is_taped_data_up_to_date(cfg): | ||
| print("Updating taped test benchmark data repository...") | ||
| run_subprocess_command("git pull && git-lfs pull") | ||
|
|
||
|
|
||
| def install_taped_test_deps(cfg): | ||
| # Cloning and updating taped test benchmark data repo requires git-lfs to be installed | ||
| ensure_git_lfs_installed() | ||
| if not os.path.isdir(cfg.TAPED_TEST_DATA_DIR): | ||
| print("Cloning taped test benchmark data repository...") | ||
| clone_taped_test_data_repo(cfg) | ||
| else: | ||
| print("Checking for updates in taped test benchmark data repository...") | ||
| os.chdir(cfg.TAPED_TEST_DATA_DIR) | ||
| update_taped_test_data_repo(cfg) | ||
|
|
||
|
|
||
| # Returns a dict with env variables visible for a command after running in a system shell | ||
| # Used to capture effects of sourcing file such as ros2 setup | ||
| def capture_environment(command="cd ."): | ||
|
|
||
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,27 @@ | ||
| cmake_minimum_required(VERSION 3.16) | ||
|
|
||
| if(WIN32) | ||
| message(FATAL_ERROR "Tape not supported on Windows") | ||
| endif() | ||
|
|
||
| set(RGL_TAPED_TEST_FILES | ||
| src/AwsimMeshToPcdTest.cpp | ||
| ) | ||
|
|
||
| include(GoogleTest) | ||
|
|
||
| add_executable(RobotecGPULidar_taped_test ${RGL_TAPED_TEST_FILES}) | ||
|
|
||
| target_link_libraries(RobotecGPULidar_taped_test PRIVATE | ||
| gtest_main | ||
| gmock_main | ||
| spdlog | ||
| RobotecGPULidar | ||
| ) | ||
|
|
||
| target_include_directories(RobotecGPULidar_taped_test PRIVATE | ||
| ${CMAKE_CURRENT_SOURCE_DIR}/../include | ||
| ${CMAKE_CURRENT_SOURCE_DIR}/../../include | ||
| ) | ||
|
|
||
| gtest_discover_tests(RobotecGPULidar_taped_test) |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,63 @@ | ||
| #include <helpers/commonHelpers.hpp> | ||
| #include <rgl/api/extensions/tape.h> | ||
|
|
||
| #include <filesystem> | ||
| #include <spdlog/fmt/ostr.h> | ||
|
|
||
| #if RGL_BUILD_PCL_EXTENSION | ||
| #include <pcl/point_cloud.h> | ||
| #include <pcl/point_types.h> | ||
| #include <pcl/io/pcd_io.h> | ||
| #endif | ||
|
|
||
| class AwsimMeshToPcdTest : public RGLTest | ||
| { | ||
| protected: | ||
| const std::string benchmarkDataDirEnvVariableName = "RGL_TAPED_TEST_DATA_DIR"; | ||
|
|
||
| const std::string testTapeFileName = "awsim-mesh2pcd"; | ||
| const std::string expectedOutputDirName = "expected-output"; | ||
| const std::string expectedOutputFileName = testTapeFileName + ".pcd"; | ||
|
|
||
| const float epsilon = 1e-2f; | ||
| }; | ||
|
|
||
| TEST_F(AwsimMeshToPcdTest, validate_point_cloud_equivalence) | ||
| { | ||
| #if RGL_BUILD_PCL_EXTENSION | ||
|
|
||
| // It is necessary to set environment variable on benchmark data directory | ||
| if (std::getenv(benchmarkDataDirEnvVariableName.c_str()) == nullptr) { | ||
| const std::string msg = fmt::format( | ||
| "Skipping Taped Test - benchmark data directory must be provided in environment variable '{}'", | ||
| benchmarkDataDirEnvVariableName); | ||
| GTEST_SKIP() << msg; | ||
| } | ||
|
|
||
| const std::string benchmarkDataDir = std::getenv(benchmarkDataDirEnvVariableName.c_str()); | ||
| const std::string testTapePath{(std::filesystem::path(benchmarkDataDir) / testTapeFileName).string()}; | ||
| const std::string expectedOutputPath{ | ||
| (std::filesystem::path(benchmarkDataDir) / expectedOutputDirName / expectedOutputFileName).string()}; | ||
| const std::string outputPath{(std::filesystem::current_path() / "output.pcd").string()}; | ||
|
|
||
| ASSERT_RGL_SUCCESS(rgl_tape_play(testTapePath.c_str())); | ||
|
|
||
| pcl::PointCloud<pcl::PointXYZ>::Ptr expectedCloud(new pcl::PointCloud<pcl::PointXYZ>); | ||
| pcl::PointCloud<pcl::PointXYZ>::Ptr outputCloud(new pcl::PointCloud<pcl::PointXYZ>); | ||
|
|
||
| pcl::io::loadPCDFile(expectedOutputPath, *expectedCloud); | ||
| pcl::io::loadPCDFile(outputPath, *outputCloud); | ||
|
|
||
| ASSERT_TRUE(expectedCloud->size() == outputCloud->size()); | ||
|
|
||
| for (size_t i = 0; i < expectedCloud->size(); ++i) { | ||
| EXPECT_NEAR(expectedCloud->points[i].x, outputCloud->points[i].x, epsilon); | ||
| EXPECT_NEAR(expectedCloud->points[i].y, outputCloud->points[i].y, epsilon); | ||
| EXPECT_NEAR(expectedCloud->points[i].z, outputCloud->points[i].z, epsilon); | ||
| } | ||
|
|
||
| #else | ||
| const std::string msg = fmt::format("Skipping Taped Test - RGL compiled without PCL extension."); | ||
| GTEST_SKIP() << msg; | ||
| #endif | ||
| } |