Fix use of Backward on macOS

CMakeLists.txt

@@ -220,4 +220,6 @@ else (build_errors)
   ${PROJECT_NAME_LOWER}")
 endif(build_errors)
 
+include(CTest)
+
 add_subdirectory(src)

src/CMakeLists.txt

@@ -28,8 +28,78 @@ if(WIN32)
 endif()
 install (TARGETS backward DESTINATION ${LIB_INSTALL_DIR})
 
+#===============================================================================
+# Used for the installed version.
+if(APPLE)
+  # On macOS, the full path to the library since DYLD_LIBRARY_PATH may not work.
+  set(backward_library_name ${CMAKE_INSTALL_PREFIX}/${LIB_INSTALL_DIR}/$<TARGET_FILE_NAME:backward>)
+else()
+  set(backward_library_name $<TARGET_FILE_NAME:backward>)
+endif()
+
 # Two steps to create `ign`, First using `configure_file`, to interpolate cmake variables. Then
 # use `file(GENERATE ...)` to use generator expressions
-configure_file(ign.in ${PROJECT_BINARY_DIR}/${executable_name}_before_gen)
-file(GENERATE OUTPUT ${PROJECT_BINARY_DIR}/$<CONFIG>/${executable_name} INPUT ${PROJECT_BINARY_DIR}/${executable_name}_before_gen )
-install (PROGRAMS ${PROJECT_BINARY_DIR}/$<CONFIG>/${executable_name} DESTINATION ${BIN_INSTALL_DIR})
+set(ign_script_configured ${PROJECT_BINARY_DIR}/${executable_name}_before_gen)
+set(ign_script_generated ${PROJECT_BINARY_DIR}/$<CONFIG>/${executable_name})
+
+configure_file(ign.in ${ign_script_configured})
+file(GENERATE OUTPUT ${ign_script_generated} INPUT ${ign_script_configured})
+install (PROGRAMS ${ign_script_generated} DESTINATION ${BIN_INSTALL_DIR})
+
+#===============================================================================
+# BEGIN TEST ign command
+# Generate the ruby script for internal testing.
+if(BUILD_TESTING)
+  set(backward_library_name $<TARGET_FILE:backward>)
+  set(ign_script_configured_test ${PROJECT_BINARY_DIR}/test/bin/${executable_name}_before_gen)
+  set(ign_script_generated_test ${PROJECT_BINARY_DIR}/$<CONFIG>/test/bin/${executable_name})
+
+  # Two steps to create `ign`, First using `configure_file`, to interpolate cmake variables. Then
+  # use `file(GENERATE ...)` to use generator expressions
+  configure_file(ign.in ${ign_script_configured_test})
+  file(GENERATE OUTPUT ${ign_script_generated_test} INPUT ${ign_script_configured_test})
+
+  set(IGN_DESIGNIATION tools)
+  set(cmd_script_configured_test "${CMAKE_CURRENT_BINARY_DIR}/cmd${IGN_DESIGNIATION}_TEST.rb.configured")
+  set(cmd_script_generated_test "${PROJECT_BINARY_DIR}/test/lib/$<CONFIG>/ruby/ignition/cmd${IGN_DESIGNIATION}_TEST.rb")
+
+  configure_file(
+    "cmd${IGN_DESIGNIATION}_TEST.rb.in"
+    "${cmd_script_configured_test}"
+    @ONLY)
+
+  file(GENERATE
+    OUTPUT "${cmd_script_generated_test}"
+    INPUT  "${cmd_script_configured_test}")
+
+  set(ign_library_path ${cmd_script_generated_test})
+
+  set(yaml_output_dir "${PROJECT_BINARY_DIR}/test/conf/" )
+  set(yaml_output_configured_test "${yaml_output_dir}/${IGN_DESIGNIATION}_TEST.yaml.configured" )
+  set(yaml_output_generated_test "${yaml_output_dir}/$<CONFIG>/${IGN_DESIGNIATION}_TEST.yaml" )
+  configure_file(
+    "${IGN_DESIGNIATION}_TEST.yaml.in"
+    ${yaml_output_configured_test} @ONLY)
+
+  file(GENERATE
+    OUTPUT "${yaml_output_generated_test}"
+    INPUT "${yaml_output_configured_test}")
+
+  add_test(NAME UNIT_ign_TEST COMMAND ruby ${ign_script_generated_test} tools_TEST)
+
+  set_tests_properties(
+    UNIT_ign_TEST
+    PROPERTIES
+    ENVIRONMENT
+    "IGN_CONFIG_PATH=${yaml_output_dir}/$<CONFIG>"
+  )
+  set_tests_properties(UNIT_ign_TEST PROPERTIES
+    PASS_REGULAR_EXPRESSION "Test passed"
+  )
+
+  set_tests_properties(UNIT_ign_TEST PROPERTIES
+    FAIL_REGULAR_EXPRESSION "Library error"
+  )
+endif()
+# END TEST
+#==============================

src/cmdtools_TEST.rb.in

@@ -0,0 +1,30 @@
+#!/usr/bin/ruby
+
+# Copyright (C) 2021 Open Source Robotics Foundation
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+require 'optparse'
+
+# Constants.
+COMMANDS = {'tools' => "Test ign tools.\n\n"}
+
+class Cmd
+  #
+  # Execute the command
+  #
+  def execute(args)
+    puts "Test passed"
+  end
+end
+

src/ign.in

@@ -282,17 +282,10 @@ if ARGV.include?('--versions')
 end
 
 # Start Backward before loading plugins
-backward_library_name = if (/darwin/ =~ RUBY_PLATFORM).nil?
-                          '$<TARGET_FILE_NAME:backward>'
-                        else
-                          # On macOS, the full path to the library since
-                          # DYLD_LIBRARY_PATH may not work.
-                          '$<TARGET_FILE:backward>'
-                        end
 begin
-  SharedLibInterface::Importer.dlload backward_library_name
+  SharedLibInterface::Importer.dlload '@backward_library_name@'
 rescue SharedLibInterface::DLError
-  puts "Library error: #{backward_library_name} not found. Improved backtrace"\
+  puts 'Library error: @backward_library_name@ not found. Improved backtrace'\
        ' generation will be disabled'
 end
 

src/tools_TEST.yaml.in

@@ -0,0 +1,9 @@
+--- # test commands
+format: 1.0.0
+library_name: @PROJECT_NAME@
+library_version: ''
+library_path: @ign_library_path@
+commands:
+    - tools_TEST   : Test command
+---
+