Add basic test for YarpRobotLoggerDevice

.github/workflows/ci.yml

@@ -14,12 +14,12 @@ env:
   vcpkg_robotology_TAG: v0.11.0
   YCM_TAG: v0.15.3
   YARP_TAG: v3.8.0
-  iDynTree_TAG: v12.2.1
+  iDynTree_TAG: v12.3.3
   CasADi_TAG: 3.5.5.2
   manif_TAG: 0.0.5
-  matioCpp_TAG: v0.2.0
+  matioCpp_TAG: v0.2.5
   LieGroupControllers_TAG: v0.2.0
-  osqp_TAG: v0.6.2
+  osqp_TAG: v0.6.3
   OsqpEigen_TAG: v0.7.0
   tomlplusplus_TAG: v3.0.1
   icub_models_TAG: v2.4.0
@@ -115,14 +115,17 @@ jobs:
         sudo apt-get install librealsense2-dev
 
     # Get the number of cores
-    - name: Get number of cores to speed up cmake build [Windows]
+    - name: Get number of cores to speed up cmake build and test to skip [Windows]
       if: matrix.os == 'windows-2019'
       run: |
          echo "NUM_CORES_FOR_CMAKE_BUILD=$((Get-CimInstance Win32_ComputerSystem).NumberOfLogicalProcessors)" >> $env:GITHUB_ENV
+         echo "BLF_TEST_TO_SKIP=YarpRobotLoggerDeviceUnitTests" >> $env:GITHUB_ENV
 
-    - name: Get number of cores to speed up cmake build [Ubuntu]
+    - name: Get number of cores to speed up cmake build and test to suppress [Ubuntu]
       if: startsWith(matrix.os, 'ubuntu')
-      run: echo "NUM_CORES_FOR_CMAKE_BUILD=`nproc --all`" >> $GITHUB_ENV
+      run: |
+           echo "NUM_CORES_FOR_CMAKE_BUILD=`nproc --all`" >> $GITHUB_ENV
+           echo "BLF_TEST_TO_SKIP=" >> $env:GITHUB_ENV
 
     - name: Cache Source-based Dependencies
       id: cache-source-deps
@@ -156,7 +159,7 @@ jobs:
         mkdir -p build
         cd build
         cmake -A x64 -DCMAKE_TOOLCHAIN_FILE=${VCPKG_INSTALLATION_ROOT}/scripts/buildsystems/vcpkg.cmake \
-              -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps -DYARP_COMPILE_GUIS:BOOL=OFF \
+              -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps -DYARP_COMPILE_GUIS:BOOL=OFF -DYARP_COMPILE_ALL_FAKE_DEVICES:BOOL=ON \
               -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps ..
         cmake --build . --config ${{ matrix.build_type }} --target INSTALL -j${{env.NUM_CORES_FOR_CMAKE_BUILD}}
         # Workaround for https://github.com/robotology-dependencies/robotology-vcpkg-binary-ports/issues/3
@@ -347,7 +350,7 @@ jobs:
         git checkout ${YARP_TAG}
         mkdir -p build
         cd build
-        cmake  -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps ..
+        cmake  -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps -DYARP_COMPILE_ALL_FAKE_DEVICES:BOOL=ON ..
         cmake --build . --config ${{ matrix.build_type }} --target install -j${{env.NUM_CORES_FOR_CMAKE_BUILD}}
 
         # iDynTree
@@ -551,4 +554,4 @@ jobs:
       run: |
         cd build
         export PATH=$PATH:/d/a/bipedal-locomotion-framework/bipedal-locomotion-framework/install/bin:/d/a/bipedal-locomotion-framework/bipedal-locomotion-framework/install/deps/bin:/c/robotology/vcpkg/installed/x64-windows/bin:/c/robotology/vcpkg/installed/x64-windows/debug/bin
-        ctest --output-on-failure -C ${{ matrix.build_type }} -j${{env.NUM_CORES_FOR_CMAKE_BUILD}} .
+        ctest -E "${BLF_TEST_TO_SKIP}" --output-on-failure -C ${{ matrix.build_type }} -j${{env.NUM_CORES_FOR_CMAKE_BUILD}} .

.github/workflows/gh-pages.yml

@@ -51,7 +51,7 @@ jobs:
           python3 ./generate_website.py --mcss_path ${GITHUB_WORKSPACE}/m.css/documentation/doxygen.py
 
       - name: Archive artifacts
-        uses: actions/upload-artifact@v2
+        uses: actions/upload-artifact@v4
         with:
           name: site
           path: docs/site

CHANGELOG.md

@@ -4,6 +4,7 @@ All notable changes to this project are documented in this file.
 ## [unreleased]
 ### Added
 - Add `USE_SYSTEM_tiny-process-library` CMake option to use `tiny-process-library` found in system (https://github.com/ami-iit/bipedal-locomotion-framework/pull/891)
+- Add the test for the `YarpRobotLoggerDevice` (https://github.com/ami-iit/bipedal-locomotion-framework/pull/862)
 - Implement low-pass filter for estimated friction torques in `JointTorqueControlDevice` (https://github.com/ami-iit/bipedal-locomotion-framework/pull/892)
 
 ### Changed

cmake/BipedalLocomotionFrameworkDependencies.cmake

@@ -32,10 +32,10 @@ find_package(rclcpp 16.0.0 QUIET)
 checkandset_dependency(rclcpp MINIMUM_VERSION 16.0.0)
 dependency_classifier(rclcpp MINIMUM_VERSION 16.0.0 IS_USED ${FRAMEWORK_USE_rclcpp} PUBLIC)
 
-find_package(YARP 3.7.0 COMPONENTS companion profiler dev os idl_tools QUIET)
+find_package(YARP 3.7.0 COMPONENTS companion profiler dev os idl_tools robotinterface QUIET)
 checkandset_dependency(YARP MINIMUM_VERSION 3.7.0)
 dependency_classifier(YARP MINIMUM_VERSION 3.7.0 IS_USED ${FRAMEWORK_USE_YARP}
-                      COMPONENTS companion profiler dev os idl_tools PUBLIC)
+                      COMPONENTS companion profiler dev os idl_tools robotinterface PUBLIC)
 
 find_package(Qhull QUIET)
 checkandset_dependency(Qhull MINIMUM_VERSION)

cmake/valgrind-linux.supp

@@ -85,6 +85,22 @@
    fun:_ZNK3tbb10interface78internal15task_arena_base16internal_executeERNS1_13delegate_baseE
 }
 
+{
+   <ubuntu-20.04-opencv-aruco-tbb-ci>
+   Memcheck:Leak
+   match-leak-kinds: possible
+   fun:calloc
+   fun:allocate_dtv
+   fun:_dl_allocate_tls
+   fun:allocate_stack
+   fun:pthread_create@@GLIBC_2.2.5
+   obj:/usr/lib/x86_64-linux-gnu/libtbb.so.2
+   obj:/usr/lib/x86_64-linux-gnu/libtbb.so.2
+   obj:/usr/lib/x86_64-linux-gnu/libtbb.so.2
+   fun:start_thread
+   fun:clone
+}
+
 {
    <ubuntu-20.04-_dl_init-libgobject-libglib>
    Memcheck:Leak
@@ -166,3 +182,234 @@
    fun:_dl_init
    obj:/usr/lib/x86_64-linux-gnu/ld-2.31.so
 }
+
+{
+   <yarp-3.8-yarp-robotinterface-1>
+   Memcheck:Leak
+   match-leak-kinds: definite
+   fun:malloc
+   fun:strdup
+   fun:_ZN4yarp14robotinterface4impl15XMLReaderFileV37Private17readRobotFromFileERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE
+   fun:_ZN4yarp14robotinterface4impl15XMLReaderFileV316getRobotFromFileERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEERKNS_2os10SearchableEb
+   fun:_ZN4yarp14robotinterface9XMLReader16getRobotFromFileERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEERKNS_2os10SearchableE
+   fun:_ZL22CATCH2_INTERNAL_TEST_0v
+   fun:_ZN5Catch10RunContext20invokeActiveTestCaseEv
+   fun:_ZN5Catch10RunContext14runCurrentTestERNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES7_
+   fun:_ZN5Catch10RunContext7runTestERKNS_14TestCaseHandleE
+   fun:_ZN5Catch7Session11runInternalEv
+   fun:_ZN5Catch7Session3runEv
+   fun:main
+}
+
+{
+   <yarp-3.8-yarp-robotinterface-2>
+   Memcheck:Leak
+   match-leak-kinds: possible
+   fun:malloc
+   fun:allocate_dtv_entry
+   fun:allocate_and_init
+   fun:tls_get_addr_tail.isra.0
+   fun:__tls_get_addr
+   fun:_ZN6spdlog7details2os9thread_idEv
+   fun:_ZN6spdlog7details7log_msgC1ENS_10source_locEN3fmt2v617basic_string_viewIcEENS_5level10level_enumES6_
+   fun:_ZN6spdlog6logger3logIJPKcEEEvNS_10source_locENS_5level10level_enumEN3fmt2v617basic_string_viewIcEEDpRKT_
+   fun:_ZN17BipedalLocomotion21YarpRobotLoggerDevice4openERN4yarp2os10SearchableE
+   fun:_ZN4yarp3dev10PolyDriver8coreOpenERNS_2os10SearchableE
+   fun:_ZN4yarp3dev10PolyDriver4openERNS_2os10SearchableE
+   fun:_ZN4yarp14robotinterface6Device4openEv
+   fun:_ZN4yarp14robotinterface5Robot7Private11openDevicesEv
+   fun:_ZN4yarp14robotinterface5Robot10enterPhaseENS0_11ActionPhaseE
+}
+
+{
+   <yarp-3.8-yarp-robotinterface-3>
+   Memcheck:Leak
+   match-leak-kinds: possible
+   fun:malloc
+   fun:allocate_dtv_entry
+   fun:allocate_and_init
+   fun:tls_get_addr_tail.isra.0
+   fun:__tls_get_addr
+   obj:/usr/lib/x86_64-linux-gnu/libgnutls.so.30.27.0
+   obj:/usr/lib/x86_64-linux-gnu/libgnutls.so.30.27.0
+   fun:_dl_fini
+   fun:__run_exit_handlers
+   fun:exit
+   fun:(below main)
+}
+
+{
+   <yarp-3.8-yarp-robotinterface-4>
+   Memcheck:Leak
+   match-leak-kinds: possible
+   fun:malloc
+   fun:_dl_resize_dtv
+   fun:_dl_update_slotinfo
+   fun:update_get_addr
+   fun:__tls_get_addr
+   fun:_ZN6spdlog7details2os9thread_idEv
+   fun:_ZN6spdlog7details7log_msgC1ENS_10source_locEN3fmt2v617basic_string_viewIcEENS_5level10level_enumES6_
+   fun:_ZN6spdlog6logger3logIJPKcEEEvNS_10source_locENS_5level10level_enumEN3fmt2v617basic_string_viewIcEEDpRKT_
+   fun:_ZN17BipedalLocomotion21YarpRobotLoggerDevice4openERN4yarp2os10SearchableE
+   fun:_ZN4yarp3dev10PolyDriver8coreOpenERNS_2os10SearchableE
+   fun:_ZN4yarp3dev10PolyDriver4openERNS_2os10SearchableE
+   fun:_ZN4yarp14robotinterface6Device4openEv
+}
+
+{
+   <yarp-3.8-yarp-robotinterface-5>
+   Memcheck:Leak
+   match-leak-kinds: definite
+   fun:_Znwm
+   fun:_ZN4yarp14robotinterface9XMLReader16getRobotFromFileERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEERKNS_2os10SearchableE
+   fun:_ZL22CATCH2_INTERNAL_TEST_0v
+   fun:_ZN5Catch10RunContext20invokeActiveTestCaseEv
+   fun:_ZN5Catch10RunContext14runCurrentTestERNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES7_
+   fun:_ZN5Catch10RunContext7runTestERKNS_14TestCaseHandleE
+   fun:_ZN5Catch7Session11runInternalEv
+   fun:_ZN5Catch7Session3runEv
+   fun:main
+}
+
+{
+   <yarp-3.8-yarp-robotinterface-6>
+   Memcheck:Leak
+   match-leak-kinds: definite
+   fun:malloc
+   fun:strdup
+   fun:_ZN4yarp14robotinterface4impl15XMLReaderFileV37Private17readRobotFromFileERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE
+   fun:_ZN4yarp14robotinterface4impl15XMLReaderFileV316getRobotFromFileERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEERKNS_2os10SearchableEb
+   fun:_ZN4yarp14robotinterface9XMLReader16getRobotFromFileERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEERKNS_2os10SearchableE
+   fun:_ZL22CATCH2_INTERNAL_TEST_0v
+   fun:_ZNK5Catch21TestInvokerAsFunction6invokeEv
+   fun:_ZNK5Catch14TestCaseHandle6invokeEv
+   fun:_ZN5Catch10RunContext20invokeActiveTestCaseEv
+   fun:_ZN5Catch10RunContext14runCurrentTestERNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES7_
+   fun:_ZN5Catch10RunContext7runTestERKNS_14TestCaseHandleE
+   fun:_ZN5Catch12_GLOBAL__N_19TestGroup7executeEv
+}
+
+{
+   <yarp-3.8-yarp-robotinterface-7>
+   Memcheck:Leak
+   match-leak-kinds: possible
+   fun:malloc
+   fun:allocate_dtv_entry
+   fun:allocate_and_init
+   fun:tls_get_addr_tail.isra.0
+   fun:__tls_get_addr
+   fun:_ZN6spdlog7details2os9thread_idEv
+   fun:_ZN6spdlog7details7log_msgC1ENS_10source_locEN3fmt2v617basic_string_viewIcEENS_5level10level_enumES6_
+   fun:_ZN6spdlog6logger3logIJPKcEEEvNS_10source_locENS_5level10level_enumEN3fmt2v617basic_string_viewIcEEDpRKT_
+   fun:_ZN6spdlog6logger3logIJPKcEEEvNS_5level10level_enumEN3fmt2v617basic_string_viewIcEEDpRKT_
+   fun:_ZN6spdlog6logger4infoIJPKcEEEvN3fmt2v617basic_string_viewIcEEDpRKT_
+   fun:_ZN17BipedalLocomotion21YarpRobotLoggerDevice4openERN4yarp2os10SearchableE
+   fun:_ZN4yarp3dev10PolyDriver8coreOpenERNS_2os10SearchableE
+   fun:_ZN4yarp3dev10PolyDriver4openERNS_2os10SearchableE
+   fun:_ZN4yarp14robotinterface6Device4openEv
+}
+
+{
+   <yarp-3.8-yarp-robotinterface-8>
+   Memcheck:Leak
+   match-leak-kinds: possible
+   fun:malloc
+   fun:_dl_resize_dtv
+   fun:_dl_update_slotinfo
+   fun:update_get_addr
+   fun:__tls_get_addr
+   fun:_ZN6spdlog7details2os9thread_idEv
+   fun:_ZN6spdlog7details7log_msgC1ENS_10source_locEN3fmt2v617basic_string_viewIcEENS_5level10level_enumES6_
+   fun:_ZN6spdlog6logger3logIJPKcEEEvNS_10source_locENS_5level10level_enumEN3fmt2v617basic_string_viewIcEEDpRKT_
+   fun:_ZN6spdlog6logger3logIJPKcEEEvNS_5level10level_enumEN3fmt2v617basic_string_viewIcEEDpRKT_
+   fun:_ZN6spdlog6logger4infoIJPKcEEEvN3fmt2v617basic_string_viewIcEEDpRKT_
+   fun:_ZN17BipedalLocomotion21YarpRobotLoggerDevice4openERN4yarp2os10SearchableE
+   fun:_ZN4yarp3dev10PolyDriver8coreOpenERNS_2os10SearchableE
+}
+
+{
+   <yarp-3.8-yarp-robotinterface-9>
+   Memcheck:Leak
+   match-leak-kinds: definite
+   fun:_Znwm
+   fun:_ZN4yarp14robotinterface9XMLReader16getRobotFromFileERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEERKNS_2os10SearchableE
+   fun:_ZL22CATCH2_INTERNAL_TEST_0v
+   fun:_ZNK5Catch21TestInvokerAsFunction6invokeEv
+   fun:_ZNK5Catch14TestCaseHandle6invokeEv
+   fun:_ZN5Catch10RunContext20invokeActiveTestCaseEv
+   fun:_ZN5Catch10RunContext14runCurrentTestERNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES7_
+   fun:_ZN5Catch10RunContext7runTestERKNS_14TestCaseHandleE
+   fun:_ZN5Catch12_GLOBAL__N_19TestGroup7executeEv
+   fun:_ZN5Catch7Session11runInternalEv
+   fun:_ZN5Catch7Session3runEv
+   fun:_ZN5Catch7Session3runIcEEiiPKPKT_
+}
+
+{
+   <yarp-3.8-yarp-robotinterface-10>
+   Memcheck:Leak
+   match-leak-kinds: definite
+   fun:malloc
+   fun:strdup
+   fun:_ZN4yarp14robotinterface4impl15XMLReaderFileV37Private17readRobotFromFileERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE
+   fun:_ZN4yarp14robotinterface4impl15XMLReaderFileV316getRobotFromFileERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEERKNS_2os10SearchableEb
+   fun:_ZN4yarp14robotinterface9XMLReader16getRobotFromFileERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEERKNS_2os10SearchableE
+   fun:_ZL22CATCH2_INTERNAL_TEST_0v
+   fun:_ZN5Catch10RunContext20invokeActiveTestCaseEv
+   fun:_ZN5Catch10RunContext14runCurrentTestEv
+   fun:_ZN5Catch10RunContext7runTestERKNS_14TestCaseHandleE
+   fun:_ZN5Catch7Session11runInternalEv
+   fun:_ZN5Catch7Session3runEv
+   fun:main
+}
+
+{
+   <yarp-3.8-yarp-robotinterface-11>
+   Memcheck:Leak
+   match-leak-kinds: definite
+   fun:_Znwm
+   fun:_ZN4yarp14robotinterface9XMLReader16getRobotFromFileERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEERKNS_2os10SearchableE
+   fun:_ZL22CATCH2_INTERNAL_TEST_0v
+   fun:_ZN5Catch10RunContext20invokeActiveTestCaseEv
+   fun:_ZN5Catch10RunContext14runCurrentTestEv
+   fun:_ZN5Catch10RunContext7runTestERKNS_14TestCaseHandleE
+   fun:_ZN5Catch7Session11runInternalEv
+   fun:_ZN5Catch7Session3runEv
+   fun:main
+}
+
+{
+   <yarp-3.8-yarp-robotinterface-12>
+   Memcheck:Leak
+   match-leak-kinds: definite
+   fun:malloc
+   fun:strdup
+   fun:_ZN4yarp14robotinterface4impl15XMLReaderFileV37Private17readRobotFromFileERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE
+   fun:_ZN4yarp14robotinterface4impl15XMLReaderFileV316getRobotFromFileERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEERKNS_2os10SearchableEb
+   fun:_ZN4yarp14robotinterface9XMLReader16getRobotFromFileERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEERKNS_2os10SearchableE
+   fun:_ZL22CATCH2_INTERNAL_TEST_0v
+   fun:_ZNK5Catch12_GLOBAL__N_121TestInvokerAsFunction6invokeEv
+   fun:_ZNK5Catch14TestCaseHandle6invokeEv
+   fun:_ZN5Catch10RunContext20invokeActiveTestCaseEv
+   fun:_ZN5Catch10RunContext14runCurrentTestEv
+   fun:_ZN5Catch10RunContext7runTestERKNS_14TestCaseHandleE
+   fun:_ZN5Catch12_GLOBAL__N_19TestGroup7executeEv
+}
+
+{
+   <yarp-3.8-yarp-robotinterface-13>
+   Memcheck:Leak
+   match-leak-kinds: definite
+   fun:_Znwm
+   fun:_ZN4yarp14robotinterface9XMLReader16getRobotFromFileERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEERKNS_2os10SearchableE
+   fun:_ZL22CATCH2_INTERNAL_TEST_0v
+   fun:_ZNK5Catch12_GLOBAL__N_121TestInvokerAsFunction6invokeEv
+   fun:_ZNK5Catch14TestCaseHandle6invokeEv
+   fun:_ZN5Catch10RunContext20invokeActiveTestCaseEv
+   fun:_ZN5Catch10RunContext14runCurrentTestEv
+   fun:_ZN5Catch10RunContext7runTestERKNS_14TestCaseHandleE
+   fun:_ZN5Catch12_GLOBAL__N_19TestGroup7executeEv
+   fun:_ZN5Catch7Session11runInternalEv
+   fun:_ZN5Catch7Session3runEv
+   fun:_ZN5Catch7Session3runIcEEiiPKPKT_
+}

devices/YarpRobotLoggerDevice/CMakeLists.txt

@@ -62,5 +62,9 @@ if(FRAMEWORK_COMPILE_YarpRobotLoggerDevice)
     PERMISSIONS OWNER_EXECUTE OWNER_WRITE OWNER_READ
     DESTINATION "${CMAKE_INSTALL_BINDIR}")
 
+  # This test only works on Linux, see https://github.com/ami-iit/bipedal-locomotion-framework/issues/873
+  if(NOT (WIN32 OR APPLE))
+    add_subdirectory(tests)
+  endif()
 endif()
 

devices/YarpRobotLoggerDevice/README.md

@@ -15,7 +15,7 @@ To use the logger, launch the `yarprobotinterface` with the `launch-yarp-robot-l
 ```console
 yarprobotinterface --config launch-yarp-robot-logger.xml
 ```
-When you close the yarprobotinterface, the logger will save the logged data in a mat file. Additionally, a md file will contain information about the software version in the robot setup. If video recording is enabled, a mp4 file with the video recording will also be generated.
+When you close the yarprobotinterface, the logger will save the logged data in a mat file. Additionally, a md file will contain information about the software version in the robot setup. If video recording is enabled, a mp4 file with the video recording will also be generated. All these files will be saved in the working directory in which `yarprobotinterface` has been launched.
 
 ## How to log exogenous data
 The `YarpRobotLoggerDevice` can also log exogenous data, i.e., data not directly provided by the robot sensors and actuators. To do this:

devices/YarpRobotLoggerDevice/tests/CMakeLists.txt

@@ -0,0 +1,14 @@
+# Copyright (C) 2024 Istituto Italiano di Tecnologia (IIT). All rights reserved.
+# This software may be modified and distributed under the terms of the
+# BSD-3-Clause license.
+
+add_bipedal_test(
+  NAME YarpRobotLoggerDevice
+  SOURCES YarpRobotLoggerDeviceTest.cpp
+  LINKS YARP::YARP_robotinterface matioCpp::matioCpp BipedalLocomotion::TextLogging)
+
+if(TARGET YarpRobotLoggerDeviceUnitTests)
+  target_compile_definitions(YarpRobotLoggerDeviceUnitTests PRIVATE CMAKE_CURRENT_SOURCE_DIR="${CMAKE_CURRENT_SOURCE_DIR}")
+  target_compile_definitions(YarpRobotLoggerDeviceUnitTests PRIVATE CMAKE_BINARY_DIR="${CMAKE_BINARY_DIR}")
+  target_compile_definitions(YarpRobotLoggerDeviceUnitTests PRIVATE YARP_DATA_INSTALL_DIR_FULL="${YARP_DATA_INSTALL_DIR_FULL}")
+endif()