From 868c7ef3543224f3fdc449d9aaead49ed1d98186 Mon Sep 17 00:00:00 2001
From: Martina Gloria <martina.gloria@iit.it>
Date: Thu, 29 Feb 2024 11:58:38 +0100
Subject: [PATCH] Compile IMU test in the CI

---
 .github/workflows/ci.yml | 4 ++--
 CMakeLists.txt           | 5 ++---
 src/imu/CMakeLists.txt   | 1 +
 3 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 6187f11..310ca82 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -42,7 +42,7 @@ jobs:
         # Compilation related dependencies
         mamba install cmake compilers make ninja pkg-config
         # Actual dependencies
-        mamba install ycm-cmake-modules yarp opencv idyntree robot-testing-framework icub-main
+        mamba install ycm-cmake-modules yarp opencv idyntree robot-testing-framework icub-main robometry
 
     - name: Configure [Linux&macOS]
       if: contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu')
@@ -60,7 +60,7 @@ jobs:
         mkdir -p build
         cd build
         cmake -G"Visual Studio 16 2019" -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install \
-              -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} ..
+              -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} -DICUB_TESTS_COMPILES_IMU_TEST=ON ..
       
     - name: Build
       shell: bash -l {0}
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 455f879..1d73283 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -33,7 +33,7 @@ set(CMAKE_SHARED_MODULE_PREFIX "")
 # options
 option(ICUB_TESTS_USES_ICUB_MAIN "Turn on to compile the tests that depend on the icub-main repository" ON)
 option(ICUB_TESTS_USES_CODYCO    "Turn on to compile the test that depend on the codyco-superbuil repository" OFF)
-option(ICUB_TESTS_USES_IDYNTREE "Turn on to compile the test that depend on the idyntree repository" OFF)
+option(ICUB_TESTS_COMPILES_IMU_TEST "Turn on to compile the IMU test" OFF)
 
 # Build examples?
 add_subdirectory(example/cpp)
@@ -101,8 +101,7 @@ add_subdirectory(src/skinWrapperTest)
 #add_subdirectory(src/system-status)
 
 # Build IMU test
-if(ICUB_TESTS_USES_IDYNTREE)
-    find_package(iDynTree REQUIRED)
+if(ICUB_TESTS_COMPILES_IMU_TEST)
     add_subdirectory(src/imu)
 endif()
 
diff --git a/src/imu/CMakeLists.txt b/src/imu/CMakeLists.txt
index eeb55ac..f9260b7 100644
--- a/src/imu/CMakeLists.txt
+++ b/src/imu/CMakeLists.txt
@@ -1,4 +1,5 @@
 add_definitions(-D_USE_MATH_DEFINES)
+find_package(iDynTree REQUIRED)
 find_package(robometry)
 
 robottestingframework_add_plugin(imu HEADERS imu.h