ARC-OPT · dmronga · Jun 6, 2024 · Jun 5, 2024
diff --git a/.github/workflows/build_and_test_ubuntu20.04.yml b/.github/workflows/build_and_test_ubuntu20.04.yml
@@ -21,5 +21,6 @@ jobs:
       run: |
         export LD_LIBRARY_PATH=/usr/local/lib
         export PYTHONPATH=/usr/local/lib/python3.8/site-packages
-        cd wbc
-        sh scripts/run_tests.sh
+        cd wbc/build
+        make test
+
diff --git a/.github/workflows/build_and_test_ubuntu22.04.yml b/.github/workflows/build_and_test_ubuntu22.04.yml
@@ -21,5 +21,5 @@ jobs:
       run: |
         export LD_LIBRARY_PATH=/usr/local/lib
         export PYTHONPATH=/usr/local/lib/python3.10/site-packages
-        cd wbc
-        sh scripts/run_tests.sh
+        cd wbc/build
+        make test
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -1,5 +1,6 @@
 cmake_minimum_required (VERSION 3.16.3)
 project(wbc)
+include(CTest)
 
 find_package(PkgConfig REQUIRED)
 find_package(Boost REQUIRED COMPONENTS system filesystem unit_test_framework serialization)

diff --git a/scripts/run_tests.sh b/scripts/run_tests.sh
diff --git a/src/controllers/test/CMakeLists.txt b/src/controllers/test/CMakeLists.txt
@@ -13,3 +13,7 @@ add_executable(test_pid_controllers test_pid_controllers.cpp)
 target_link_libraries(test_pid_controllers
                       wbc-controllers
                       Boost::unit_test_framework)
+
+add_test(NAME test_pot_field_controllers COMMAND test_pot_field_controllers)
+add_test(NAME test_pos_pd_controllers COMMAND test_pos_pd_controllers)
+add_test(NAME test_pid_controllers COMMAND test_pid_controllers)
diff --git a/src/core/test/CMakeLists.txt b/src/core/test/CMakeLists.txt
@@ -2,3 +2,5 @@ add_executable(test_core test_core.cpp)
 target_link_libraries(test_core
                       wbc-core
                       Boost::unit_test_framework)
+
+add_test(NAME test_core COMMAND test_core)
diff --git a/src/robot_models/hyrodyn/test/CMakeLists.txt b/src/robot_models/hyrodyn/test/CMakeLists.txt
@@ -2,3 +2,5 @@ add_executable(test_robot_model_hyrodyn test_robot_model_hyrodyn.cpp ../../test/
 target_link_libraries(test_robot_model_hyrodyn
                       wbc-robot_models-hyrodyn
                       Boost::unit_test_framework)
+
+add_test(NAME test_robot_model_hyrodyn COMMAND test_robot_model_hyrodyn)
diff --git a/src/robot_models/kdl/test/CMakeLists.txt b/src/robot_models/kdl/test/CMakeLists.txt
@@ -2,3 +2,5 @@ add_executable(test_robot_model_kdl test_robot_model_kdl.cpp ../../test/test_rob
 target_link_libraries(test_robot_model_kdl
                       wbc-robot_models-kdl
                       Boost::unit_test_framework)
+
+add_test(NAME test_robot_model_kdl COMMAND test_robot_model_kdl)
diff --git a/src/robot_models/pinocchio/test/CMakeLists.txt b/src/robot_models/pinocchio/test/CMakeLists.txt
@@ -5,3 +5,5 @@ target_link_libraries(test_robot_model_pinocchio
                       Boost::system
                       Boost::filesystem
                       Boost::serialization)
+
+add_test(NAME test_robot_model_pinocchio COMMAND test_robot_model_pinocchio)
diff --git a/src/robot_models/rbdl/test/CMakeLists.txt b/src/robot_models/rbdl/test/CMakeLists.txt
@@ -2,3 +2,5 @@ add_executable(test_robot_model_rbdl test_robot_model_rbdl.cpp ../../test/test_r
 target_link_libraries(test_robot_model_rbdl
                       wbc-robot_models-rbdl
                       Boost::unit_test_framework)
+
+add_test(NAME test_robot_model_rbdl COMMAND test_robot_model_rbdl)
diff --git a/src/scenes/acceleration/test/CMakeLists.txt b/src/scenes/acceleration/test/CMakeLists.txt
@@ -4,3 +4,5 @@ target_link_libraries(test_acceleration_scene
                       wbc-robot_models-pinocchio
                       wbc-solvers-qpoases
                       Boost::unit_test_framework)
+
+add_test(NAME test_acceleration_scene COMMAND test_acceleration_scene)
diff --git a/src/scenes/acceleration_reduced_tsid/test/CMakeLists.txt b/src/scenes/acceleration_reduced_tsid/test/CMakeLists.txt
@@ -4,3 +4,5 @@ target_link_libraries(test_acceleration_scene_reduced_tsid
                       wbc-robot_models-pinocchio
                       wbc-solvers-qpoases
                       Boost::unit_test_framework)
+
+add_test(NAME test_acceleration_scene_reduced_tsid COMMAND test_acceleration_scene_reduced_tsid)
diff --git a/src/scenes/acceleration_tsid/test/CMakeLists.txt b/src/scenes/acceleration_tsid/test/CMakeLists.txt
@@ -4,3 +4,5 @@ target_link_libraries(test_acceleration_scene_tsid
                       wbc-robot_models-pinocchio
                       wbc-solvers-qpoases
                       Boost::unit_test_framework)
+
+add_test(NAME test_acceleration_scene_tsid COMMAND test_acceleration_scene_tsid)
diff --git a/src/scenes/velocity/test/CMakeLists.txt b/src/scenes/velocity/test/CMakeLists.txt
@@ -5,3 +5,5 @@ target_link_libraries(test_velocity_scene
                       wbc-solvers-hls
                       Boost::unit_test_framework)
 
+add_test(NAME test_velocity_scene COMMAND test_velocity_scene)
+
diff --git a/src/scenes/velocity_qp/test/CMakeLists.txt b/src/scenes/velocity_qp/test/CMakeLists.txt
@@ -5,3 +5,5 @@ target_link_libraries(test_velocity_scene_quadratic_cost
                       wbc-solvers-qpoases
                       Boost::unit_test_framework)
 
+add_test(NAME test_velocity_scene_quadratic_cost COMMAND test_velocity_scene_quadratic_cost)
+
diff --git a/src/solvers/eiquadprog/test/CMakeLists.txt b/src/solvers/eiquadprog/test/CMakeLists.txt
@@ -2,3 +2,5 @@ add_executable(test_eiquadprog_solver test_eiquadprog_solver.cpp)
 target_link_libraries(test_eiquadprog_solver
                       wbc-solvers-eiquadprog
                       Boost::unit_test_framework)
+
+add_test(NAME test_eiquadprog_solver COMMAND test_eiquadprog_solver)
diff --git a/src/solvers/hls/test/CMakeLists.txt b/src/solvers/hls/test/CMakeLists.txt
@@ -2,3 +2,5 @@ add_executable(test_hls_solver test_hls_solver.cpp)
 target_link_libraries(test_hls_solver
                       wbc-solvers-hls
                       Boost::unit_test_framework)
+
+add_test(NAME test_hls_solver COMMAND test_hls_solver)
diff --git a/src/solvers/osqp/test/CMakeLists.txt b/src/solvers/osqp/test/CMakeLists.txt
@@ -2,3 +2,5 @@ add_executable(test_osqp_solver test_osqp_solver.cpp)
 target_link_libraries(test_osqp_solver
                       wbc-solvers-osqp
                       Boost::unit_test_framework)
+
+add_test(NAME test_osqp_solver COMMAND test_osqp_solver)
diff --git a/src/solvers/proxqp/test/CMakeLists.txt b/src/solvers/proxqp/test/CMakeLists.txt
@@ -2,3 +2,5 @@ add_executable(test_proxqp_solver test_proxqp_solver.cpp)
 target_link_libraries(test_proxqp_solver
                       wbc-solvers-proxqp
                       ${Boost_UNIT_TEST_FRAMEWORK_LIBRARY})
+
+add_test(NAME test_proxqp_solver COMMAND test_proxqp_solver)
diff --git a/src/solvers/qpoases/test/CMakeLists.txt b/src/solvers/qpoases/test/CMakeLists.txt
@@ -2,3 +2,5 @@ add_executable(test_qpoases_solver test_qpoases_solver.cpp)
 target_link_libraries(test_qpoases_solver
                       wbc-solvers-qpoases
                       Boost::unit_test_framework)
+
+add_test(NAME test_qpoases_solver COMMAND test_qpoases_solver)
diff --git a/src/solvers/qpswift/test/CMakeLists.txt b/src/solvers/qpswift/test/CMakeLists.txt
@@ -2,3 +2,5 @@ add_executable(test_qpswift_solver test_qpswift_solver.cpp)
 target_link_libraries(test_qpswift_solver
                       wbc-solvers-qpswift
                       Boost::unit_test_framework)
+
+add_test(NAME test_qpswift_solver COMMAND test_qpswift_solver)
Original file line number	Diff line number	Diff line change
Expand Up		@@ -5,3 +5,5 @@ target_link_libraries(test_velocity_scene
		wbc-solvers-hls
		Boost::unit_test_framework)

		add_test(NAME test_velocity_scene COMMAND test_velocity_scene)
Original file line number	Diff line number	Diff line change
Expand Up		@@ -5,3 +5,5 @@ target_link_libraries(test_velocity_scene_quadratic_cost
		wbc-solvers-qpoases
		Boost::unit_test_framework)

		add_test(NAME test_velocity_scene_quadratic_cost COMMAND test_velocity_scene_quadratic_cost)