Python tests (SDK)

SDK/CPP/CMakeLists.txt

@@ -35,11 +35,17 @@ target_include_directories(voltu
 
 target_link_libraries(voltu ftlcommon ftldata ftlctrl ftlrgbd ftlstreams ftlrender Threads::Threads ${OpenCV_LIBS} openvr ftlnet nanogui ${NANOGUI_EXTRA_LIBS} ceres nvidia-ml)
 
+set(SDK_BINARY_DIR "${CMAKE_CURRENT_BINARY_DIR}/sdk")
+
 ExternalProject_Add(
 	voltu_sdk
 	SOURCE_DIR "${CMAKE_CURRENT_SOURCE_DIR}/public"
-	BINARY_DIR "${CMAKE_CURRENT_BINARY_DIR}/sdk"
+	BINARY_DIR ${SDK_BINARY_DIR}
 	INSTALL_COMMAND ""
 	BUILD_ALWAYS true
 	CMAKE_ARGS -DOpenCV_DIR=${OpenCV_DIR}
 )
+
+if (BUILD_TESTS)
+	add_subdirectory(tests)
+endif()

SDK/CPP/public/CMakeLists.txt

@@ -5,18 +5,13 @@ project (voltu_sdk VERSION 0.0.1)
 include(GNUInstallDirs)
 
 option(WITH_OPENCV "Build with OpenCV wrapper" ON)
-option(WITH_PYTHON "Build Python module" OFF)
-option(WITH_TESTS "Enable unit tests" ON)
+option(WITH_PYTHON "Build Python module" ON)
 
-find_package( Eigen3 REQUIRED NO_MODULE )
-find_package( Threads REQUIRED )
-
-if (WITH_TESTS)
-	enable_testing()
-endif()
+find_package(Eigen3 REQUIRED NO_MODULE)
+find_package(Threads REQUIRED)
 
 if (WITH_OPENCV)
-	find_package( OpenCV REQUIRED )
+	find_package(OpenCV REQUIRED)
 endif()
 
 if(WIN32)
@@ -72,7 +67,30 @@ add_executable(voltu_fusion_evaluator
 )
 target_link_libraries(voltu_fusion_evaluator voltu_sdk)
 
+find_package (Python COMPONENTS Development.Module Interpreter)
+
+function(find_python_module module)
+	string(TOUPPER ${module} module_upper)
+	if(NOT PY_${module_upper})
+		execute_process(COMMAND "${Python_EXECUTABLE}" "-c"
+			"import ${module}; print(${module}.__file__.rstrip('__init__.py'))"
+			RESULT_VARIABLE _${module}_status
+			OUTPUT_VARIABLE _${module}_location
+			ERROR_QUIET OUTPUT_STRIP_TRAILING_WHITESPACE)
+		if(NOT _${module}_status)
+			set(PY_${module_upper} ${_${module}_location} CACHE STRING
+				"Location of Python module ${module}")
+		endif(NOT _${module}_status)
+	endif(NOT PY_${module_upper})
+	find_package_handle_standard_args(PY_${module} DEFAULT_MSG PY_${module_upper})
+endfunction(find_python_module)
+
 if (WITH_PYTHON)
-	add_subdirectory(ext/pybind11)
-	add_subdirectory(python)
+	find_python_module(ply)
+	if (Python_FOUND AND PY_PLY)
+		add_subdirectory(ext/pybind11)
+		add_subdirectory(python)
+	else()
+		message(WARNING "Python dependencies not found, Python module is not built")
+	endif()
 endif()

SDK/CPP/public/include/voltu/system.hpp

@@ -20,7 +20,7 @@ namespace voltu
 /**
  * @brief Voltu semantic versioning information.
  */
-struct Version
+PY_NO_SHARED_PTR struct Version
 {
 	int major;  ///< API Incompatible change
 	int minor;	///< Possible binary incompatible, extensions

SDK/CPP/public/python/CMakeLists.txt

 set(SDK_AUTO_HEADERS
-    voltu/types/channel.hpp
-    voltu/types/frame.hpp
-    voltu/types/image.hpp
-    voltu/types/intrinsics.hpp
-    voltu/observer.hpp
-    voltu/feed.hpp
-    voltu/initialise.hpp
-    voltu/room.hpp
-    voltu/source.hpp
-    voltu/system.hpp
+	voltu/types/channel.hpp
+	voltu/types/frame.hpp
+	voltu/types/image.hpp
+	voltu/types/intrinsics.hpp
+	voltu/observer.hpp
+	voltu/feed.hpp
+	voltu/initialise.hpp
+	voltu/room.hpp
+	voltu/source.hpp
+	voltu/system.hpp
 )
 
 add_custom_command(
-    OUTPUT automatic_bindings.cpp
-    COMMAND ${CMAKE_CURRENT_SOURCE_DIR}/gen.py
-            automatic_bindings.cpp
-            ${CMAKE_CURRENT_SOURCE_DIR}/../include
-            ${SDK_AUTO_HEADERS}
+	OUTPUT automatic_bindings.cpp
+	COMMAND ${CMAKE_CURRENT_SOURCE_DIR}/gen.py
+			automatic_bindings.cpp
+			${CMAKE_CURRENT_SOURCE_DIR}/../include
+			${SDK_AUTO_HEADERS}
 
-    DEPENDS voltu_sdk gen.py
+	DEPENDS voltu_sdk gen.py
 )
 
 pybind11_add_module(voltu_sdk_py MODULE
-    automatic_bindings.cpp
-    module.cpp
+	automatic_bindings.cpp
+	module.cpp
 )
 
 target_include_directories(voltu_sdk_py PUBLIC include)
@@ -31,7 +31,3 @@ target_include_directories(voltu_sdk_py PRIVATE .)
 
 target_link_libraries(voltu_sdk_py PUBLIC voltu_sdk)
 set_target_properties(voltu_sdk_py PROPERTIES OUTPUT_NAME voltu)
-
-if (WITH_TESTS)
-    add_subdirectory(tests)
-endif()

SDK/CPP/public/python/tests/CMakeLists.txt

-find_package(Python3 COMPONENTS Interpreter)
-
-function(add_python_test TEST_NAME TEST_SCRIPT)
-    add_test(NAME ${TEST_NAME}
-        COMMAND Python3::Interpreter -B -m unittest ${TEST_SCRIPT}
-        WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR})
-    # binary module directory to PYTHONPATH
-    set_tests_properties(${TEST_NAME} PROPERTIES
-        ENVIRONMENT PYTHONPATH=${CMAKE_CURRENT_BINARY_DIR}/..)
-endfunction()
-
-add_python_test(TestLoad test_load.py)

SDK/CPP/tests/CMakeLists.txt

+find_package(Python3 COMPONENTS Interpreter)
+
+function(add_python_test TEST_NAME TEST_SCRIPT)
+	add_test(NAME ${TEST_NAME}
+		COMMAND Python3::Interpreter -B -m unittest ${TEST_SCRIPT}
+		WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR})
+
+	# binary module directory to PYTHONPATH, additional variables have to be
+	# separated by semicolon
+	set_tests_properties(${TEST_NAME} PROPERTIES ENVIRONMENT
+		"PYTHONPATH=${SDK_BINARY_DIR}/python;LD_LIBRARY_PATH=${CMAKE_CURRENT_BINARY_DIR}/..")
+	set_property(TEST ${TEST_NAME} APPEND PROPERTY DEPENDS voltu_sdk)
+endfunction()
+
+add_python_test(Py_TestLoad test_load.py)

SDK/CPP/public/python/tests/test_load.py → SDK/CPP/tests/test_load.py

@@ -7,7 +7,8 @@ class LoadLibrary(unittest.TestCase):
         import voltu
 
     def test_import_twice(self):
-        # verify that System instance is created just once
+        # verify that System instance is created just once, even if module
+        # imported multiple times
         import voltu
         import voltu
         self.assertIsNotNone(voltu.System)