updated test config

CMakeLists.txt

@@ -9,7 +9,7 @@ endif()
 project(wrp_sdk VERSION 0.1.5)
 
 ## Project Options
-set(BUILD_TESTS OFF)
+option(BUILD_TESTS ON)
 
 ## Check if pkg is built with ROS catkin
 if(CATKIN_DEVEL_PREFIX)
@@ -60,6 +60,8 @@ if(BUILD_WITHOUT_ROS)
 endif()
 
 # Build libraries
+find_package(Threads REQUIRED)
+
 add_library(${PROJECT_NAME} 
     src/async_serial.cpp
     src/async_can.cpp
@@ -73,7 +75,7 @@ add_library(${PROJECT_NAME}
     src/platforms/scout_uart_parser.c
 )
 target_compile_definitions(${PROJECT_NAME} PUBLIC "-DASIO_ENABLE_OLD_SERVICES -DASIO_HAS_POSIX_STREAM_DESCRIPTOR")
-target_link_libraries(${PROJECT_NAME} pthread)
+target_link_libraries(${PROJECT_NAME} Threads::Threads)
 target_include_directories(${PROJECT_NAME} PUBLIC
 	$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
 	$<INSTALL_INTERFACE:include>
@@ -97,10 +99,12 @@ endif()
 
 # Build tests
 if(PROJECT_NAME STREQUAL CMAKE_PROJECT_NAME AND BUILD_TESTS)
+    message(STATUS "Tests will be built")
     enable_testing()
     include(GoogleTest)
     add_subdirectory(tests)
-    add_subdirectory(unit_tests)
+else()
+    message(STATUS "Tests will not be built")
 endif()
 
 ## Installation configuration

tests/CMakeLists.txt

@@ -1,22 +1,17 @@
-# Add executables
+# Google tests
-add_executable(test_aserial test_aserial.cpp)
+message(STATUS "Build unit tests with Google Test.")
-target_link_libraries(test_aserial wrp_sdk)
+add_subdirectory(googletest)
 
-add_executable(test_aserial_comm test_aserial_comm.cpp)
+# reference: https://cliutils.gitlab.io/modern-cmake/chapters/testing/googletest.html
-target_link_libraries(test_aserial_comm wrp_sdk)
+mark_as_advanced(
+    BUILD_GMOCK BUILD_GTEST BUILD_SHARED_LIBS
+    gmock_build_tests gtest_build_samples gtest_build_tests
+    gtest_disable_pthreads gtest_force_shared_crt gtest_hide_internal_symbols
+)
 
-add_executable(test_asio_can test_asio_can.cpp)
+# add unit tests
-target_link_libraries(test_asio_can wrp_sdk)
+set(GRAPH_TESTS
-
+    unit_tests/scout_can_protocol_test.cpp
-add_executable(test_acan test_acan.cpp)
+)
-target_link_libraries(test_acan wrp_sdk)
+add_executable(gtest_all ${GRAPH_TESTS})
-
+target_link_libraries(gtest_all gtest gmock gtest_main wrp_sdk)
-# hunter
-add_executable(test_hunter_base test_hunter_base.cpp)
-target_link_libraries(test_hunter_base wrp_sdk)
-
-# scout
-add_executable(test_scout_base test_scout_base.cpp)
-target_link_libraries(test_scout_base wrp_sdk)
-
-# tracer

tests/devel_tests/CMakeLists.txt

@@ -0,0 +1,22 @@
+# Add executables
+add_executable(test_aserial test_aserial.cpp)
+target_link_libraries(test_aserial wrp_sdk)
+
+add_executable(test_aserial_comm test_aserial_comm.cpp)
+target_link_libraries(test_aserial_comm wrp_sdk)
+
+add_executable(test_asio_can test_asio_can.cpp)
+target_link_libraries(test_asio_can wrp_sdk)
+
+add_executable(test_acan test_acan.cpp)
+target_link_libraries(test_acan wrp_sdk)
+
+# hunter
+add_executable(test_hunter_base test_hunter_base.cpp)
+target_link_libraries(test_hunter_base wrp_sdk)
+
+# scout
+add_executable(test_scout_base test_scout_base.cpp)
+target_link_libraries(test_scout_base wrp_sdk)
+
+# tracer