Fix gitignore entry for build

.gitignore

@@ -1 +1 @@
-build
+build/

.vscode/c_cpp_properties.json

@@ -1,25 +1,38 @@
 {
     "configurations": [
-      {
-        "name": "MinGW",
-        "compilerPath": "C:/mingw64/bin/g++.exe",
-        "cStandard": "c11",
-        "cppStandard": "c++17",
-        "intelliSenseMode": "windows-gcc-x64",
-
-        "includePath": [
-          "${workspaceFolder}/**",
-          "C:/Qt/6.9.0/mingw_64/include",
-          "C:/Qt/6.9.0/mingw_64/include/QtCore",
-          "C:/Qt/6.9.0/mingw_64/include/QtGui",
-          "C:/Qt/6.9.0/mingw_64/include/QtWidgets",
-          "C:/Qt/6.9.0/mingw_64/include/QtNetwork",
-          "C:/Qt/6.9.0/mingw_64/include/QtWebSockets",
-          "C:/Qt/6.9.0/mingw_64/include/QtSerialPort"
-    ]
-      }
+        {
+            "name": "Linux",
+            "compilerPath": "/usr/bin/g++",
+            "cStandard": "c11",
+            "cppStandard": "c++17",
+            "intelliSenseMode": "linux-gcc-x64",
+            "includePath": [
+                "${workspaceFolder}/**",
+                "/usr/include",
+                "/usr/include/x86_64-linux-gnu",
+                "/usr/include/qt6",
+                "/usr/include/qt6/QtCore",
+                "/usr/include/qt6/QtGui",
+                "/usr/include/qt6/QtWidgets"
+            ]
+        },
+        {
+            "name": "Windows",
+            "compilerPath": "C:/mingw64/bin/g++.exe",
+            "cStandard": "c11",
+            "cppStandard": "c++17",
+            "intelliSenseMode": "windows-gcc-x64",
+            "includePath": [
+                "${workspaceFolder}/**",
+                "C:/Qt/6.9.0/mingw_64/include",
+                "C:/Qt/6.9.0/mingw_64/include/QtCore",
+                "C:/Qt/6.9.0/mingw_64/include/QtGui",
+                "C:/Qt/6.9.0/mingw_64/include/QtWidgets",
+                "C:/Qt/6.9.0/mingw_64/include/QtNetwork",
+                "C:/Qt/6.9.0/mingw_64/include/QtWebSockets",
+                "C:/Qt/6.9.0/mingw_64/include/QtSerialPort"
+            ]
+        }
     ],
-    "version": 4,
-
-  }
-
+    "version": 4
+}

.vscode/launch.json

@@ -2,7 +2,26 @@
     "version": "0.2.0",
     "configurations": [
         {
-            "name": "Debug engine",
+            "name": "Debug engine (Linux)",
+            "type": "cppdbg",
+            "request": "launch",
+            "program": "${workspaceFolder}/build/engine",
+            "args": [],
+            "stopAtEntry": false,
+            "cwd": "${workspaceFolder}",
+            "environment": [],
+            "MIMode": "gdb",
+            "miDebuggerPath": "/usr/bin/gdb",
+            "setupCommands": [
+                {
+                    "description": "Enable pretty-printing for gdb",
+                    "text": "-enable-pretty-printing",
+                    "ignoreFailures": true
+                }
+            ]
+        },
+        {
+            "name": "Debug engine (Windows)",
             "type": "cppdbg",
             "request": "launch",
             "program": "${workspaceFolder}/build/engine.exe",

.vscode/settings.json

@@ -1,8 +1,7 @@
 {
     "cmake.configureSettings": {
-    "CMAKE_PREFIX_PATH": "C:/Qt/6.9.0/mingw_64/lib/cmake"
+        "CMAKE_PREFIX_PATH": "C:/Qt/6.9.0/mingw_64/lib/cmake"
     },
-
     "files.associations": {
         "qudpsocket": "cpp",
         "qhostaddress": "cpp",
@@ -99,4 +98,4 @@
         "text_encoding": "cpp",
         "qtmath": "cpp"
     }
-}
+}

.vscode/tasks.json

@@ -1,28 +1,27 @@
 {
+    "version": "2.0.0",
     "tasks": [
         {
-            "type": "cppbuild",
-            "label": "C/C++: gcc build active file",
-            "command": "/usr/bin/gcc",
-            "args": [
-                "-fdiagnostics-color=always",
-                "-g",
-                "${file}",
-                "-o",
-                "${fileDirname}/${fileBasenameNoExtension}"
-            ],
+            "label": "build (Linux)",
+            "type": "shell",
+            "command": "cmake",
+            "args": ["--build", "build", "--target", "engine"],
+            "group": "build",
+            "problemMatcher": []
+        },
+        {
+            "label": "build (Windows)",
+            "type": "shell",
+            "command": "cmake",
+            "args": ["--build", "build", "--target", "engine"],
             "options": {
-                "cwd": "${fileDirname}"
-            },
-            "problemMatcher": [
-                "$gcc"
-            ],
-            "group": {
-                "kind": "build",
-                "isDefault": true
+                "shell": {
+                    "executable": "C:\\Windows\\System32\\cmd.exe",
+                    "args": ["/d", "/c"]
+                }
             },
-            "detail": "Task generated by Debugger."
+            "group": "build",
+            "problemMatcher": []
         }
-    ],
-    "version": "2.0.0"
-}
+    ]
+}

CMakeLists.txt

@@ -1,13 +1,13 @@
 # The CMakeRoot handles all the libraries necessary to run the code
 cmake_minimum_required(VERSION 3.16)
 
-project(engine VERSION 1.0.0 LANGUAGES CXX)
+project(engine VERSION 1.0.0 LANGUAGES CXX C)
 set(TARGET engine)
 set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 
 # Setup Qt6
-find_package(Qt6 REQUIRED COMPONENTS Core Network Gui Widgets WebSockets SerialPort)
+find_package(Qt6 REQUIRED COMPONENTS Core Network Gui Widgets WebSockets SerialPort Test)
 qt_standard_project_setup()
 
 # Build protobuf
@@ -51,3 +51,6 @@ FetchContent_MakeAvailable(sol2)
 
 add_subdirectory(src)
 
+enable_testing()
+add_subdirectory(tests)
+

src/radio/grsim.cpp

@@ -2,7 +2,7 @@
 #include <QByteArray>
 #include <QHostAddress>
 #include <QtMath>
-#include <Qdebug>
+#include <QDebug>
 
 Grsim::Grsim() {
     sendSocket = new QUdpSocket();

tests/CMakeLists.txt

@@ -0,0 +1,14 @@
+add_executable(robotstate_test robotstate_test.cpp)
+target_include_directories(robotstate_test PRIVATE
+    ${CMAKE_SOURCE_DIR}/src/utilities
+)
+target_link_libraries(robotstate_test Qt6::Test utilities)
+add_test(NAME robotstate_test COMMAND robotstate_test)
+
+add_executable(world_test world_test.cpp)
+target_include_directories(world_test PRIVATE
+    ${CMAKE_SOURCE_DIR}/src/utilities
+    ${CMAKE_SOURCE_DIR}/src/world
+)
+target_link_libraries(world_test Qt6::Test utilities world)
+add_test(NAME world_test COMMAND world_test)

tests/robotstate_test.cpp

@@ -0,0 +1,31 @@
+#include <QtTest/QtTest>
+#include "robotstate.hpp"
+
+class RobotStateTest : public QObject {
+    Q_OBJECT
+private slots:
+    void defaultConstruction();
+    void updateFunctions();
+};
+
+void RobotStateTest::defaultConstruction() {
+    RobotState rs;
+    QCOMPARE(rs.getId(), 0);
+    QCOMPARE(rs.getTeam(), 0);
+    QCOMPARE(rs.getPosition(), QVector2D(0, 0));
+    QCOMPARE(rs.getOrientation(), 0.0f);
+}
+
+void RobotStateTest::updateFunctions() {
+    RobotState rs(1, 0);
+    rs.setPosition({1.0f, 2.0f});
+    rs.setOrientation(0.5f);
+    rs.setVelocity({0.3f, -0.2f});
+
+    QCOMPARE(rs.getPosition(), QVector2D(1.0f, 2.0f));
+    QCOMPARE(rs.getOrientation(), 0.5f);
+    QCOMPARE(rs.getVelocity(), QVector2D(0.3f, -0.2f));
+}
+
+QTEST_MAIN(RobotStateTest)
+#include "robotstate_test.moc"

tests/world_test.cpp

@@ -0,0 +1,32 @@
+#include <QtTest/QtTest>
+#include "world.hpp"
+
+class WorldTest : public QObject {
+    Q_OBJECT
+private slots:
+    void robotUpdates();
+    void jsonSerialization();
+};
+
+void WorldTest::robotUpdates() {
+    World w(1,1);
+    QVector2D p(2.0f,3.0f);
+    w.updateRobot(0,0,p,1.0f);
+    RobotState r = w.getRobotState(0,0);
+    QCOMPARE(r.getPosition(), p);
+    QVERIFY(r.isActive());
+}
+
+void WorldTest::jsonSerialization() {
+    World w(1,0);
+    w.updateRobot(0,0,{1.0f,1.0f},0.0f);
+    QJsonObject obj = w.toJson();
+    QVERIFY(obj.contains("robots"));
+    QJsonArray arr = obj["robots"].toArray();
+    QCOMPARE(arr.size(), 1);
+    QJsonObject r = arr.at(0).toObject();
+    QCOMPARE(r["id"].toInt(), 0);
+}
+
+QTEST_MAIN(WorldTest)
+#include "world_test.moc"