update cmake to use ctest and gtest properly

.github/workflows/ci.yaml

@@ -0,0 +1,49 @@
+---
+name: 'Spatial Hash: Build and Test'
+on:
+  push:
+    branches: [main]
+  pull_request:
+    branches: [main]
+jobs:
+  lint:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - name: Dependencies
+        run: sudo apt-get update && sudo apt install pipx
+      - name: Lint
+        run: pipx install pre-commit && cd ${{github.workspace}} && pre-commit run --all-files
+  cmake:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - name: Dependencies
+        run: sudo apt-get update && sudo apt install libgtest-dev libeigen3-dev libgoogle-glog-dev
+      - name: Configure
+        run: cmake -B ${{github.workspace}}/build -DBUILD_TESTING=ON -DCMAKE_BUILD_TYPE=Release
+      - name: Build
+        run: cmake --build ${{github.workspace}}/build --config Release
+      - name: Test
+        working-directory: ${{github.workspace}}/build
+        run: ctest -C Release
+  ros2:
+    runs-on: ubuntu-latest
+    container: ros:jazzy-ros-base
+    steps:
+      - uses: actions/checkout@v4
+        with: {path: src/spatial_hash}
+      - name: Dependencies
+        run: |
+          sudo apt-get update
+          rosdep update --rosdistro jazzy && rosdep install --rosdistro jazzy --from-paths src --ignore-src -r -y
+      - name: Build
+        shell: bash
+        run: |
+          source /opt/ros/jazzy/setup.bash
+          colcon build --cmake-args --no-warn-unused-cli -DCMAKE_BUILD_TYPE=Release
+      - name: Test
+        shell: bash
+        run: |-
+          source /opt/ros/jazzy/setup.bash
+          colcon test

CMakeLists.txt

@@ -7,8 +7,6 @@ set(CMAKE_CXX_EXTENSIONS OFF)
 
 add_compile_options(-Wall -Wextra)
 
-option(SPATIAL_HASH_BUILD_TESTS "Build tests" ON)
-
 find_package(Eigen3 REQUIRED)
 find_package(PkgConfig REQUIRED)
 pkg_check_modules(glog REQUIRED IMPORTED_TARGET libglog)
@@ -26,8 +24,8 @@ target_include_directories(
 )
 target_link_libraries(${PROJECT_NAME} PUBLIC Eigen3::Eigen PkgConfig::glog)
 
-if(SPATIAL_HASH_BUILD_TESTS)
-  find_package(GTest REQUIRED)
+include(CTest)
+if(BUILD_TESTING)
   enable_testing()
   add_subdirectory(tests)
 endif()

README.md

@@ -1,4 +1,4 @@
-![Build and Test](https://github.com/MIT-SPARK/Spatial-Hash/actions/workflows/catkin_build.yml/badge.svg)
+[![Spatial Hash: Build and Test](https://github.com/MIT-SPARK/Spatial-Hash/actions/workflows/ci.yaml/badge.svg)](https://github.com/MIT-SPARK/Spatial-Hash/actions/workflows/ci.yaml)
 
 # Spatial Hash
 A minimal library for spatial data structures based on voxel-block-hashing.
@@ -35,7 +35,7 @@ It was developed by [Lukas Schmid](https://schmluk.github.io/) at the [MIT-SPARK
     cd build
     cmake ..
     make -j
-    
+
     # optionally install this package
     sudo make install
     ```

tests/CMakeLists.txt

@@ -1,19 +1,4 @@
-if(NOT TARGET gtest)
-  include(FetchContent)
-  FetchContent_Declare(
-    googletest GIT_REPOSITORY https://github.com/google/googletest.git GIT_TAG v1.13.0
-  )
-
-  FetchContent_GetProperties(googletest)
-  if(NOT googletest_POPULATED)
-    FetchContent_Populate(googletest)
-  endif()
-
-  set(BUILD_SHARED_LIBS_THIS ${BUILD_SHARED_LIBS})
-  set(BUILD_SHARED_LIBS OFF CACHE INTERNAL "")
-  add_subdirectory(${googletest_SOURCE_DIR} ${googletest_BINARY_DIR} EXCLUDE_FROM_ALL)
-  set(BUILD_SHARED_LIBS ${BUILD_SHARED_LIBS_THIS} CACHE BOOL "")
-endif()
+find_package(GTest REQUIRED)
 
 include(GoogleTest)
 enable_testing()
@@ -33,7 +18,3 @@ add_executable(
 target_include_directories(utest_${PROJECT_NAME} PRIVATE ${CMAKE_CURRENT_SOURCE_DIR})
 target_link_libraries(utest_${PROJECT_NAME} PRIVATE ${PROJECT_NAME} GTest::gtest_main)
 gtest_add_tests(TARGET utest_${PROJECT_NAME})
-
-install(TARGETS utest_${PROJECT_NAME}
-RUNTIME DESTINATION ${CMAKE_INSTALL_LIBDIR}/${PROJECT_NAME}
-)

tests/utest_hash.cpp

@@ -39,11 +39,10 @@
 
 namespace spatial_hash {
 
-template <typename IndexType, typename Type>
-IndexType randomIndex(const Type range) {
-  return IndexType(static_cast<Type>(rand() % (2 * range) - range),
-                   static_cast<Type>(rand() % (2 * range) - range),
-                   static_cast<Type>(rand() % (2 * range) - range));
+template <typename IndexType, typename Type, typename Generator>
+IndexType randomIndex(const Type range, Generator& gen) {
+  std::uniform_int_distribution<Type> distribution(-range, range);
+  return IndexType(distribution(gen), distribution(gen), distribution(gen));
 }
 
 // Compute the badness of a hash map. The lower the better the hash. 0 is optimal
@@ -85,13 +84,15 @@ TEST(Hash, HashMapAccess) {
 // NOTE(lschmid): Takes a few seconds to compute and onlyu relevant if hash is updated (see if it
 // gets better or worse, might need more thorough test cases though.)
 TEST(Hash, DISABLED_HashMapCollisions) {
+  std::random_device rd;
+  std::mt19937 gen(rd());
+
   IndexHashMap<int> map;
   int range = 1290;
-  srand(42);
 
   // Within range.
   for (size_t i = 0; i < 100000; ++i) {
-    map[randomIndex<Index>(range)] = i;
+    map[randomIndex<Index>(range, gen)] = i;
   }
   double badness = computeMapBadness(map);
   EXPECT_NEAR(badness, 0.002408, 1e-6);
@@ -100,7 +101,7 @@ TEST(Hash, DISABLED_HashMapCollisions) {
   range = 10000;
   map.clear();
   for (size_t i = 0; i < 100000; ++i) {
-    map[randomIndex<Index>(range)] = i;
+    map[randomIndex<Index>(range, gen)] = i;
   }
   badness = computeMapBadness(map);
   EXPECT_NEAR(badness, 0.0, 1e-6);