From 9f9e90dd960df084b052ed2efd3eb9550f309da8 Mon Sep 17 00:00:00 2001
From: Giulio Romualdi <giulio.romualdi@gmail.com>
Date: Mon, 6 Nov 2023 10:18:56 +0100
Subject: [PATCH] Avoid to download the robot and the network models if the
 tests are not enabled in ML component (#749)

---
 CHANGELOG.md                |  2 ++
 src/ML/tests/CMakeLists.txt | 67 ++++++++++++++++++++-----------------
 2 files changed, 38 insertions(+), 31 deletions(-)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index c022de4b32..345c92baf7 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -22,6 +22,8 @@ All notable changes to this project are documented in this file.
 - Remove outdated tests for `RobotDynamicsEstimator` library (https://github.com/ami-iit/bipedal-locomotion-framework/pull/742)
 - Modify CI to install `RobotDynamicsEstimator` library (https://github.com/ami-iit/bipedal-locomotion-framework/pull/746)
 - Restructure the balancing-position-control script (https://github.com/ami-iit/bipedal-locomotion-framework/pull/716)
+- Avoid to download the robot and the network models if the tests are not enabled in `ML` component (https://github.com/ami-iit/bipedal-locomotion-framework/pull/749)
+
 
 ### Fixed
 - Fix timestamp logging for the cameras (https://github.com/ami-iit/bipedal-locomotion-framework/pull/748)
diff --git a/src/ML/tests/CMakeLists.txt b/src/ML/tests/CMakeLists.txt
index d92ac8054f..3491d5e634 100644
--- a/src/ML/tests/CMakeLists.txt
+++ b/src/ML/tests/CMakeLists.txt
@@ -2,38 +2,43 @@
 # This software may be modified and distributed under the terms of the
 # BSD-3-Clause license.
 
-include_directories(${CMAKE_CURRENT_BINARY_DIR})
-configure_file("${CMAKE_CURRENT_SOURCE_DIR}/FolderPath.h.in" "${CMAKE_CURRENT_BINARY_DIR}/FolderPath.h" @ONLY)
-
-set(MANN_ONNX_EXPECTED_MD5 d66042fdcd270d20b86e65b674eaa3fa)
-if (EXISTS "${CMAKE_CURRENT_BINARY_DIR}/model.onnx")
-  file(MD5 "${CMAKE_CURRENT_BINARY_DIR}/model.onnx" ONNX_MODEL_CHECKSUM_VARIABLE)
-  string(COMPARE EQUAL ${ONNX_MODEL_CHECKSUM_VARIABLE} ${MANN_ONNX_EXPECTED_MD5} MANN_ONNX_UPDATED)
-else()
-  set(MANN_ONNX_UPDATED FALSE)
-endif()
-
-if(NOT ${MANN_ONNX_UPDATED})
-  message(STATUS "Fetching MANN onnx model from huggingface.co/ami-iit/mann...")
-  file(DOWNLOAD https://huggingface.co/ami-iit/mann/resolve/3a6fa8fe38d39deae540e4aca06063e9f2b53380/ergocubSN000_26j_49e.onnx
-    ${CMAKE_CURRENT_BINARY_DIR}/model.onnx
-    EXPECTED_MD5 ${MANN_ONNX_EXPECTED_MD5})
-endif()
-
-
-set(ERGOCUB_MODEL_EXPECTED_MD5 7d24f42cb415e660abc4bbc8a52d355f)
-if (EXISTS "${CMAKE_CURRENT_BINARY_DIR}/model.urdf")
-  file(MD5 "${CMAKE_CURRENT_BINARY_DIR}/model.urdf" ERGOCUB_MODEL_CHECKSUM_VARIABLE)
-  string(COMPARE EQUAL ${ERGOCUB_MODEL_CHECKSUM_VARIABLE} ${ERGOCUB_MODEL_EXPECTED_MD5} ERGOCUB_MODEL_UPDATED)
-else()
-  set(ERGOCUB_MODEL_UPDATED FALSE)
-endif()
 
-if(NOT ${ERGOCUB_MODEL_UPDATED})
-  message(STATUS "Fetching ergoCubSN000 model from icub-tech-iit/ergocub-software...")
-  file(DOWNLOAD https://raw.githubusercontent.com/icub-tech-iit/ergocub-software/f28733afcbbfcc99cbac13be530a6a072f832746/urdf/ergoCub/robots/ergoCubSN000/model.urdf
-    ${CMAKE_CURRENT_BINARY_DIR}/model.urdf
-    EXPECTED_MD5 ${ERGOCUB_MODEL_EXPECTED_MD5})
+# The following is required only for testing
+if(BUILD_TESTING)
+  include_directories(${CMAKE_CURRENT_BINARY_DIR})
+  configure_file("${CMAKE_CURRENT_SOURCE_DIR}/FolderPath.h.in" "${CMAKE_CURRENT_BINARY_DIR}/FolderPath.h" @ONLY)
+
+  # Get the onnx model of the network
+  set(MANN_ONNX_EXPECTED_MD5 d66042fdcd270d20b86e65b674eaa3fa)
+  if (EXISTS "${CMAKE_CURRENT_BINARY_DIR}/model.onnx")
+    file(MD5 "${CMAKE_CURRENT_BINARY_DIR}/model.onnx" ONNX_MODEL_CHECKSUM_VARIABLE)
+    string(COMPARE EQUAL ${ONNX_MODEL_CHECKSUM_VARIABLE} ${MANN_ONNX_EXPECTED_MD5} MANN_ONNX_UPDATED)
+  else()
+    set(MANN_ONNX_UPDATED FALSE)
+  endif()
+
+  if(NOT ${MANN_ONNX_UPDATED})
+    message(STATUS "Fetching MANN onnx model from huggingface.co/ami-iit/mann...")
+    file(DOWNLOAD https://huggingface.co/ami-iit/mann/resolve/3a6fa8fe38d39deae540e4aca06063e9f2b53380/ergocubSN000_26j_49e.onnx
+      ${CMAKE_CURRENT_BINARY_DIR}/model.onnx
+      EXPECTED_MD5 ${MANN_ONNX_EXPECTED_MD5})
+  endif()
+
+  # Get the urdf model of the robot
+  set(ERGOCUB_MODEL_EXPECTED_MD5 7d24f42cb415e660abc4bbc8a52d355f)
+  if (EXISTS "${CMAKE_CURRENT_BINARY_DIR}/model.urdf")
+    file(MD5 "${CMAKE_CURRENT_BINARY_DIR}/model.urdf" ERGOCUB_MODEL_CHECKSUM_VARIABLE)
+    string(COMPARE EQUAL ${ERGOCUB_MODEL_CHECKSUM_VARIABLE} ${ERGOCUB_MODEL_EXPECTED_MD5} ERGOCUB_MODEL_UPDATED)
+  else()
+    set(ERGOCUB_MODEL_UPDATED FALSE)
+  endif()
+
+  if(NOT ${ERGOCUB_MODEL_UPDATED})
+    message(STATUS "Fetching ergoCubSN000 model from icub-tech-iit/ergocub-software...")
+    file(DOWNLOAD https://raw.githubusercontent.com/icub-tech-iit/ergocub-software/f28733afcbbfcc99cbac13be530a6a072f832746/urdf/ergoCub/robots/ergoCubSN000/model.urdf
+      ${CMAKE_CURRENT_BINARY_DIR}/model.urdf
+      EXPECTED_MD5 ${ERGOCUB_MODEL_EXPECTED_MD5})
+  endif()
 endif()
 
 add_bipedal_test(