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Update all dependencies, add pcl tests, and fix minor bugs (#10)
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1 +1,29 @@ | ||
| build --cxxopt='-std=c++14' | ||
| # Helpful flags: https://blog.aspect.dev/bazelrc-flags | ||
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| # Build in release mode with debug symbols by default. | ||
| # These are disabled for quicker build-times in CI, but in your code you almost definitely want to | ||
| # set -c opt. | ||
| #build --compilation_mode opt | ||
| #build --copt -g | ||
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| build --keep_going | ||
| # Fix the wrong default to generate __init__.py to delimit a Python package. | ||
| build --incompatible_default_to_explicit_init_py | ||
| build --cxxopt='-std=c++17' | ||
| # Ensure that you don't accidentally make non-hermetic actions/tests | ||
| # which depend on remote services. Tag an individual target with | ||
| # tags=["requires-network"] to opt-out of the enforcement. | ||
| build --sandbox_default_allow_network=false | ||
| # Don't let environment variables like $PATH sneak into the build, | ||
| # which can cause massive cache misses when they change. | ||
| build --incompatible_strict_action_env | ||
| # Helps debugging when Bazel runs out of memory | ||
| build --heap_dump_on_oom | ||
| # Speed up all builds by not checking if output files have been modified. | ||
| build --noexperimental_check_output_files | ||
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| build --nolegacy_external_runfiles | ||
| run --nolegacy_external_runfiles | ||
| test --nolegacy_external_runfiles | ||
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| test --test_output=errors |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1 +1 @@ | ||
| 4.1.0 | ||
| 6.2.1 |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,206 @@ | ||
| #!/usr/bin/env python3 | ||
| import argparse | ||
| import os | ||
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| EXCLUDE_TESTS = { | ||
| # This test loads a file in code using an env var rather than taking an argument. | ||
| "geometry": ["test_mesh_io"], | ||
| # This test has internal timeout testing that cannot be increased. It fails in CI on the aarch64 | ||
| # target because it's running in an enumlated environment (so everything runs 5x slower than | ||
| # normal). Just disable it to prevent it from causing non-deterministic timing failures. | ||
| "sample_consensus": ["test_sample_consensus"], | ||
| } | ||
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| MEDIUM_TESTS = { | ||
| "io": ["test_io"], | ||
| } | ||
| LARGE_TESTS = { | ||
| "common": ["test_eigen"], | ||
| # NOTE: The below tests only take a long time when running in CI's aarch64 emulated environment. | ||
| "filters": ["test_crop_hull"], | ||
| "octree": ["test_test_octree"], | ||
| "search": ["test_flann_search", "test_kdtree_search"], | ||
| } | ||
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| RENAME_DEPS = { | ||
| ":gtest": ":test", | ||
| "FLANN::FLANN": "@flann", | ||
| } | ||
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| EXTRA_SRCS = { | ||
| "geometry": { | ||
| "all": ["test/geometry/test_mesh_common_functions.h"], | ||
| }, | ||
| "search": { | ||
| "all": ["test/search/precise_distances.h"], | ||
| }, | ||
| } | ||
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| # These targets are missing required deps, which works with cmake but not bazel. | ||
| EXTRA_DEPS = { | ||
| "2d": { | ||
| "test_2d_keypoint_instantiation_with_precompile": [":2d"], | ||
| "test_2d_keypoint_instantiation_without_precompile": [":2d"], | ||
| }, | ||
| "io": { | ||
| "test_buffers": [":io"] | ||
| }, | ||
| "octree": { | ||
| "test_octree": [":octree"], | ||
| }, | ||
| "registration": { | ||
| "test_correspondence_estimation": [":io"], | ||
| }, | ||
| } | ||
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| PARSER_STATE_NONE = "NONE" | ||
| PARSER_STATE_TEST_NAME = "TEST_NAME" | ||
| PARSER_STATE_SRCS = "SRCS" | ||
| PARSER_STATE_DEPS = "DEPS" | ||
| PARSER_STATE_ARGS = "ARGS" | ||
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| def parse_args() -> tuple[list[str], any]: | ||
| parser = argparse.ArgumentParser( | ||
| description="Generates bazel BUILD targets for test targets") | ||
| parser.add_argument("--pcl_path", help="Path to the local pcl source code") | ||
| parser.add_argument("--pcl_lib", | ||
| help="The pcl library to generate tests for") | ||
| parser.add_argument("--out", "-o", help="Path to the output BUILD file") | ||
| return parser.parse_args() | ||
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| def main(): | ||
| args = parse_args() | ||
| test_lib_path = os.path.join(args.pcl_path, "test", args.pcl_lib) | ||
| cmakelists_path = os.path.join(test_lib_path, "CMakeLists.txt") | ||
| with open(cmakelists_path) as cmakelists_file: | ||
| with open(args.out, "w") as out_file: | ||
| parser_state = PARSER_STATE_NONE | ||
| test_name = None | ||
| srcs = [] | ||
| deps = [] | ||
| arguments = [] | ||
| target_complete = False | ||
| for line in cmakelists_file: | ||
| line = line.strip() | ||
| # Example line defining a test: | ||
| # PCL_ADD_TEST(common_test_wrappers test_wrappers FILES test_wrappers.cpp LINK_WITH pcl_gtest pcl_common) | ||
| words = line.split() | ||
| word_index = 0 | ||
| if parser_state == PARSER_STATE_NONE: | ||
| if not line.startswith("PCL_ADD_TEST"): | ||
| continue | ||
| # Handle spurious whitespace like "PCL_ADD_TEST (foo ...". | ||
| test_line_parts = line.split("(") | ||
| assert (len(test_line_parts) == 2) | ||
| words = test_line_parts[1].split() | ||
| test_name = words[1] | ||
| parser_state = PARSER_STATE_SRCS | ||
| print(test_name) | ||
| word_index = 2 | ||
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| while word_index < len(words): | ||
| word = words[word_index] | ||
| if word == "FILES": | ||
| parser_state = PARSER_STATE_SRCS | ||
| word_index += 1 | ||
| continue | ||
| if word == "LINK_WITH": | ||
| parser_state = PARSER_STATE_DEPS | ||
| word_index += 1 | ||
| continue | ||
| if word == "ARGUMENTS": | ||
| parser_state = PARSER_STATE_ARGS | ||
| word_index += 1 | ||
| continue | ||
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| if word.endswith(")"): | ||
| target_complete = True | ||
| word = word.rstrip(")").strip() | ||
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| if parser_state == PARSER_STATE_SRCS: | ||
| srcs.append(os.path.join("test", args.pcl_lib, word)) | ||
| elif parser_state == PARSER_STATE_DEPS: | ||
| dep = word.replace("pcl_", ":") | ||
| if dep in RENAME_DEPS: | ||
| dep = RENAME_DEPS[dep] | ||
| deps.append(dep) | ||
| elif parser_state == PARSER_STATE_ARGS: | ||
| arguments.append(word) | ||
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| if target_complete: | ||
| if args.pcl_lib in EXCLUDE_TESTS and test_name in EXCLUDE_TESTS[ | ||
| args.pcl_lib]: | ||
| print( | ||
| f"WARNING: Skipping excluded test {test_name}") | ||
| elif len(arguments) > 0: | ||
| # Some PCL tests require pass arguments. Maybe I'll figure out later how to landle | ||
| # this... | ||
| print( | ||
| f"WARNING: Skipping test {test_name} because it requires args" | ||
| ) | ||
| else: | ||
| if args.pcl_lib in EXTRA_SRCS: | ||
| if "all" in EXTRA_SRCS[args.pcl_lib]: | ||
| for extra_src in EXTRA_SRCS[ | ||
| args.pcl_lib]["all"]: | ||
| if extra_src not in srcs: | ||
| srcs.append(extra_src) | ||
| if test_name in EXTRA_SRCS[args.pcl_lib]: | ||
| srcs.extend( | ||
| EXTRA_SRCS[args.pcl_lib][test_name]) | ||
| if args.pcl_lib in EXTRA_DEPS and test_name in EXTRA_DEPS[ | ||
| args.pcl_lib]: | ||
| deps.extend( | ||
| EXTRA_DEPS[args.pcl_lib][test_name]) | ||
| srcs.sort() | ||
| deps.sort() | ||
| arguments.sort() | ||
| size = "small" | ||
| if args.pcl_lib in LARGE_TESTS and test_name in LARGE_TESTS[ | ||
| args.pcl_lib]: | ||
| size = "large" | ||
| elif args.pcl_lib in MEDIUM_TESTS and test_name in MEDIUM_TESTS[ | ||
| args.pcl_lib]: | ||
| size = "medium" | ||
| out_file.write("cc_test(\n") | ||
| out_file.write( | ||
| f" name = \"{args.pcl_lib}_{test_name}\",\n" | ||
| ) | ||
| out_file.write(f" size = \"{size}\",\n") | ||
| if len(srcs) == 1: | ||
| out_file.write( | ||
| f" srcs = [\"{srcs[0]}\"],\n") | ||
| else: | ||
| out_file.write(" srcs = [\n") | ||
| for src in srcs: | ||
| out_file.write(f" \"{src}\",\n") | ||
| out_file.write(" ],\n") | ||
| if len(deps) == 1: | ||
| out_file.write( | ||
| f" deps = [\"{deps[0]}\"],\n") | ||
| else: | ||
| out_file.write(" deps = [\n") | ||
| for dep in deps: | ||
| out_file.write(f" \"{dep}\",\n") | ||
| out_file.write(" ],\n") | ||
| out_file.write(")\n") | ||
| out_file.write("\n") | ||
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| # Reset state | ||
| parser_state = PARSER_STATE_NONE | ||
| test_name = None | ||
| srcs = [] | ||
| deps = [] | ||
| arguments = [] | ||
| target_complete = False | ||
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| # Ignore the rest of the line. | ||
| break | ||
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| word_index += 1 | ||
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| if __name__ == "__main__": | ||
| main() |
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