Reduce cmake test boilerplate #2276
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All instances of mujoco_test in the code base were followed by a call to target_link_libraries(<testname> fixture gmock). As anyhow mujoco_test already was calling target_link_libraries to some predefined list of targets (mujoco and gtest_main), this PR adds to the list of default linked targets also fixture and gmock, to reduce the boilerplate. Furthermore, to completly remove the need for calling target_link_libraries after a call to mujoco_test, this PR also add to the mujoco_test macro the ADDITIONAL_LINK_LIBRARIES argument, that can be used if a given test needs to link some additional targets beside the default ones. To permit to use these new features also for mujoco benchmarks, this PR adds a MAIN_TARGET parameter to mujoco_test, to select if gtest_main or another target is used to provide the main entry point to the test executable.
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Before this PR, all instances of
mujoco_testin the codebase were followed by a call totarget_link_libraries(<testname> fixture gmock).As anyhow
mujoco_testalready was calling target_link_libraries to some predefined list of targets (mujocoandgtest_main), this PR adds to the list of default linked targets alsofixtureandgmock, to reduce the boilerplate required to add a test.Furthermore, to completely remove the need for calling target_link_libraries after a call to
mujoco_test, this PR also adds to themujoco_testmacro theADDITIONAL_LINK_LIBRARIESargument, that can be used if a given test needs to link some additional targets beside the default ones.To permit to use these new features also for mujoco benchmarks, this PR adds a
MAIN_TARGETparameter to mujoco_test, to select ifgtest_mainor another target is used to provide the mainentry point to the test executable, and migrate the existing usage of
mujoco_benchmark_testto usemujoco_test.This change is a requirement to add a
TAGSargument to themujoco_testmacro, to permit to skip the compilation of a given test under some condition.